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href="https://orcid.org/0000-0002-5198-1860" aria-label="Redirect to Doi" target="_blank" rel="noreferrer"><span role="img" class="anticon"> <svg xmlns="http://www.w3.org/2000/svg" viewbox="0 0 256 256" xml:space="preserve" width="1em" height="1em"> <path d="M256 128c0 70.7-57.3 128-128 128S0 198.7 0 128 57.3 0 128 0s128 57.3 128 128z" fill="#a6ce39"></path> <path d="M86.3 186.2H70.9V79.1h15.4v107.1zm22.6-107.1h41.6c39.6 0 57 28.3 57 53.6 0 27.5-21.5 53.6-56.8 53.6h-41.8V79.1zm15.4 93.3h24.5c34.9 0 42.9-26.5 42.9-39.7C191.7 111.2 178 93 148 93h-23.7v79.4zM88.7 56.8c0 5.5-4.5 10.1-10.1 10.1s-10.1-4.6-10.1-10.1c0-5.6 4.5-10.1 10.1-10.1s10.1 4.6 10.1 10.1z" fill="#fff"></path> </svg></span></a>,<sup>1</sup></span> <span class="articleHeader__authors_author"><strong>Weidong保</strong><a href="//www.newsama.com/cdn-cgi/l/email-protection" aria-label="Mail Option"><span role="img" class="anticon"> <svg version="1.0" xmlns="http://www.w3.org/2000/svg" width="1em" height="1em" viewbox="0 0 1401 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role="img" class="anticon"> <svg xmlns="http://www.w3.org/2000/svg" viewbox="0 0 256 256" xml:space="preserve" width="1em" height="1em"> <path d="M256 128c0 70.7-57.3 128-128 128S0 198.7 0 128 57.3 0 128 0s128 57.3 128 128z" fill="#a6ce39"></path> <path d="M86.3 186.2H70.9V79.1h15.4v107.1zm22.6-107.1h41.6c39.6 0 57 28.3 57 53.6 0 27.5-21.5 53.6-56.8 53.6h-41.8V79.1zm15.4 93.3h24.5c34.9 0 42.9-26.5 42.9-39.7C191.7 111.2 178 93 148 93h-23.7v79.4zM88.7 56.8c0 5.5-4.5 10.1-10.1 10.1s-10.1-4.6-10.1-10.1c0-5.6 4.5-10.1 10.1-10.1s10.1 4.6 10.1 10.1z" fill="#fff"></path> </svg></span></a>,<sup>1</sup></span> <span class="articleHeader__authors_author">通的人,<sup>1</sup></span> <span class="articleHeader__authors_author">温州,<sup>1</sup></span> <span class="articleHeader__authors_author">Daqian刘,<sup>1</sup></span> <span class="articleHeader__authors_author">和李马<sup>1</sup></span> </div> <div class="simpleShowMore"> <button class="simpleShowMore__button">显示更多</button> </div> <div class="articleHeader__academicEditor"> <strong>学术编辑器:</strong> <span>盐城你</span> </div> <div class="articleHeader__timeline"> <div class="articleHeader__timeline_item "> <strong>收到了</strong> <span>02年6月2020年</span> </div> <div class="articleHeader__timeline_item "> <strong>修改后的</strong> <span>2020年7月27日</span> </div> <div class="articleHeader__timeline_item "> <strong>接受</strong> <span>2020年8月11日</span> </div> <div class="articleHeader__timeline_item articleHeader__timeline_item_sticky"> <strong>发表</strong> <span>2020年8月28日</span> </div> </div> </div> <div class="articleBody"> <div class="xml-content"> <h4 class="header" id="abstract">文摘</h4> <p>无人驾驶飞行器(无人机)被广泛使用在许多应用程序中,很多军事对抗的环境中任务正在进行无人机群而不是人类由于其优势。在对抗的环境中,无人机群的可靠性和可用性将无人机的主要问题,因为脆弱,所以增加任务分配算法是非常重要的。在本文中,我们提出了一个新颖的增加框架将实时任务分配给无人机对抗的环境中与动力。不同于现有的调度方法,我们不仅分配任务,而且备份副本任务的无人机在需要的时候,以促进可靠性。与此同时,我们采用一个重叠的机制,包括Backup-Primary Backup-Backup重叠,重叠在作业保存群资源有限。的基础上增加和重叠机制,第一次,我们建议增加一个新的名叫DTTA任务分配算法,旨在促进任务成功概率。广泛进行的实验是基于随机合成工作负载比较DTTA三基线算法。实验结果表明,DTTA可以有效地促进任务的成功的概率,而不影响成群在对抗环境下的有效性。</p> <span class="end-abs"></span> <h4 id="introduction">1。介绍</h4> <p>随着机械技术的发展,自动化技术,人工智能,无人机(uav)变得越来越有能力在不同的行业。由于它的低成本,没有人员伤亡的风险,和良好的可操作性,它被广泛应用在许多场景中近年来取代手工任务,例如,遥感(<a href="#B1">1</a>],精准农业[<a href="#B2">2</a>],救灾[<a href="#B3">3</a>),和物流服务<a href="#B4">4</a>]。特别是在军事行动,无人机正在取代勇士承担越来越多的工作(<a href="#B5">5</a>),显示隐藏的巨大优势,生存能力和多样化的功能。此外,无人机的大规模使用,命名为群,带来了战斗发电的新方法(<a href="#B6">6</a>]。</p> <p>在无人机群的应用,如何分配任务是极大地影响性能的一个关键因素。作业过程的主要问题是如何有效地分配任务到达适当的无人机,考虑的任务要求,时间限制,功能需求,无人机实时状态(<a href="#B7">7</a>]。此外,无人机群管理的复杂性将增长规模大幅增加。这是因为任务分配优化的计算量与无人机的数量成指数增加。特别是在战场上(<a href="#B8">8</a>,<a href="#B9">9</a>],无人机的破坏性,疲软的通讯条件,和不确定性环境(<a href="#B10">10</a>不应该被忽视。应该注意的是,损害认为本文包含各种各样的异常条件会导致任务执行的失败。因此,对抗环境中任务分配过程将面临两个主要挑战除了常规约束:一是无人机可能受损,应该重新分配和任务;另一个原因是,实时要求和疲软的通信条件将延期后的发生破坏性不可行。</p> <p>随着实时重新分配方法不可行,另一个解决方案是可以容忍无人机的任务分配计划破坏问题;也就是说,调度计划应确保损坏的无人机的任务成功完成尽可能多的,这可以通过使用多个副本的任务在不同的无人机。增加机制来源于研究容错调度,其中主和备份模型是最常用的方案<a href="#B11">11</a>]。</p> <p>然而,无人机群的增加问题具有明显的差异:通信信道通常不稳定,对无人机的任务通常有不同的位置,和异构无人机通常有不同的功能。这些特性使它很难研究无人机群的容错机制。</p> <p>我们所知,很少有研究关注的增加问题无人机群对抗环境中的应用程序。和传统的容错任务算法不能适应对抗无人机群的场景。因此,我们尝试提出增加机制的基础上增加传统的容错方法,给分配算法对抗环境中的无人机群。本研究的主要贡献总结如下:<span class="list"><span class="list-item"><span class="list-label">(我)</span><span class="list-content">我们设计了一个新的增加分配框架,包括增加模型和机制</span></span><span class="list-item"><span class="list-label">(2)</span><span class="list-content">资源节约,我们研究了重叠模型,模型的性质进行了详细分析</span></span><span class="list-item"><span class="list-label">(3)</span><span class="list-content">我们提出了一个增加算法(DTTA)对无人机任务分配成群在对抗的环境中,其中包括Backup-Primary (BP)重叠和Backup-Backup (BB)重叠机制</span></span><span class="list-item"><span class="list-label">(iv)</span><span class="list-content">我们进行了大量的仿真实验,验证提出的增加机制和算法的有效性</span></span></span></p> <p>剩下的纸是组织如下。节<a href="#sec2">2</a>在文献中,我们总结了相关工作。给出的定义和增加模型部分<a href="#sec3">3</a>。和部分<a href="#sec4">4</a>说明了增加机制。节<a href="#sec5">5</a>,增加任务分配algorithm-DTTA-is详细给出。这是紧随其后的是实验和性能分析<a href="#sec6">6</a>。最后,我们总结部分的研究和未来的发展方向<a href="#sec7">7</a>。</p> <h4 id="related-works">2。相关的工作</h4> <p>在本节中,我们将总结相关文献从三个相应的方面:分配算法,增加机制,重叠的机制。</p> <p>分配算法,许多研究人员已经开发出有效的策略合作无人机。一般来说,调度算法可以分为两类:集中式和分布式的方法。所讨论的Shumacher [<a href="#B12">12</a>),集中研究了无人机任务调度方法,作者解决了利用混合整数线性规划方法优化问题。刘和Kroll [<a href="#B13">13</a>旨在解决multirobot任务分配问题,他们开发了一种subpopulation-based遗传算法通过使用反转突变和选择。其他集中式算法,如蚁群优化(<a href="#B14">14</a>)、遗传算法(<a href="#B15">15</a>[],狼群算法<a href="#B16">16</a>)也显示效果为multirobot系统在解决任务分配问题。虽然集中在优化算法展示优势,巨大的实时通信的压力中心和计算的复杂性限制其性能。和分散的方法正变得越来越受欢迎的在面对动态任务和不确定的环境。金等。<a href="#B17">17</a>)开发了一个基于他们提出的分布式任务分配方法衡量资源的福利。该方法可以获得全球高资源福利和快速攻击响应无人机团队利用有限的资源平衡。如前所述(<a href="#B7">7</a>),作者旨在产生一个令人满意的解决方案在合理的时间内,而不是在不可接受的找到全局最优解的时间,他们提出了一种新的分层方法解决多个无人机团队任务分配问题,作业过程分为两个阶段:集群和分配集群。实验结果发现其智能机器人应用的有效性。除此之外,还有许多其他的模型,如合同净(CN) [<a href="#B18">18</a>),分散的马尔可夫决策过程(Dec-MDP) [<a href="#B19">19</a>],市场拍卖机制[<a href="#B20">20.</a>),和动态蚁群的分工(DACLD) [<a href="#B21">21</a>]。然而,对于战场动态任务在对抗的环境中,这些模型和算法都很弱在某些点;他们没有采取破坏性的无人机无人机和异构问题时做的任务分配。</p> <p>增加的机制,很少有研究。然而与无人机的容错机制相关的一些文献可以发现,这类似于增加的方法。研究人员主要关注容错控制机制在无人机的应用<a href="#B22">22</a>,<a href="#B23">23</a>]。在[<a href="#B24">24</a>),玉等人提出了一个容错控制的解决方案对无人机的驱动器故障。和故障场景发生在致动器,所以容错方法只可以用来处理错误的行为水平。为了解决更复杂的容错问题,提出了一种多级重构框架的无人机(<a href="#B25">25</a>,作者试图适应断层不同层次的问题。在无人机演示基于一个完整的六个自由度的非线性仿真模型,识别效果。值得注意的是,错误控制机制只关注单个无人机的问题。至于无人机群、容错机制尚未研究。</p> <p>在本文中,我们将采用复制技术实现损伤对无人机群的容忍度。基于复制、分配算法试图为提高可靠性分配的副本任务。主要用于容错模型主备份模型(<a href="#B11">11</a>,<a href="#B26">26</a>),任务会主复制和备份,以防遇到失败。通过使用复制,备份副本将会消耗更多的资源,导致穷人无人机的效率。为了减少额外的备份资源为代价,重叠机制被许多研究人员研究。通过使用重叠模型,资源节约的备份可以重叠的其他任务。依赖任务的备份重叠的研究(<a href="#B27">27</a>],作者设计了一个容错调度算法在异构系统中。和其他地方如前所述<a href="#B28">28</a>,<a href="#B29">29日</a>),一个重叠模型识别也是一个有效的机制来促进资源的利用率。</p> <p>我们所知,很少有作品研究分配算法,增加机制,重叠的协作模型。因此,我们建议DTTA对抗的环境中促进任务的成功概率,没有损害无人机的效率。</p> <h4 id="definitions-and-system-model">3所示。定义和系统模型</h4> <p>在本节中,我们首先介绍本文中所使用的符号。然后,我们现在的任务模型和无人机模型。此外,智能群组成的无人机任务分配框架了。最后,我们将介绍分配目标。</p> <h5 id="sec3.1">3.1。主要的符号</h5> <p>在表<a href="//www.newsama.com/journals/ijae/2020/8878136/tab1/" target="_blank">1</a>,我们总结本文中采用的主要符号。值得注意的是,<svg height="10.8766pt" id="M1" style="vertical-align:-3.29112pt" version="1.1" viewbox="-0.0498162 -7.58548 12.6809 10.8766" width="12.6809pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M380 106C343 72 306 56 265 56C195 56 116 112 115 248C235 252 361 262 377 265C396 269 400 277 400 297C400 374 333 449 250 449H249C198 449 144 421 103 376S37 269 37 201C37 88 109 -12 232 -12C263 -12 332 6 395 84L380 106ZM225 412C281 412 315 364 314 312C314 297 308 292 290 292C232 290 176 289 120 289C135 370 180 412 225 412Z" id="g190-102"></path> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <path d="M298 36L289 62C276 55 253 45 228 45C202 45 169 60 169 141V397H276C289 405 292 426 282 437H169V574L155 576L90 509V437H45L17 408L21 397H90V107C90 28 125 -12 188 -12C198 -12 213 -8 230 1L298 36Z" id="g190-117"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z" id="g50-106"></path> </g> </svg>是一个小数用于指示执行无人机面临的风险水平,和价值的<svg height="10.8766pt" id="M2" style="vertical-align:-3.29112pt" version="1.1" viewbox="-0.0498162 -7.58548 12.6809 10.8766" width="12.6809pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>通常是在0和1之间。时间的价值是由一个正实数,模拟我们设置初始时刻0,时间的单位为秒。例如,如果该值<svg height="10.8766pt" id="M3" style="vertical-align:-3.29112pt" version="1.1" viewbox="-0.0498162 -7.58548 12.8636 10.8766" width="12.8636pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.98,0)"> <path d="M433 39L423 65C413 59 399 54 387 54C370 54 352 69 352 114V299C352 352 342 392 307 422C285 440 255 449 225 449C168 437 102 399 75 379C56 365 44 353 44 339C44 315 69 296 87 296C101 296 111 303 116 319C124 349 133 371 145 385C156 397 171 404 190 404C241 404 275 364 275 291V274C253 256 180 229 120 209C65 190 39 159 39 110C39 47 88 -12 159 -12C189 -12 237 25 277 52C282 35 288 21 301 8C312 -3 333 -12 348 -12L433 39ZM275 84C256 65 221 48 195 48C164 48 124 73 124 124C124 161 146 180 185 198C206 208 254 229 275 240V84Z" id="g190-98"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.708,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>是5,这意味着这个任务将抵达5 s的时刻;如果该值的<svg height="12.599pt" id="M4" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -9.3079 14.0249 12.599" width="14.0249pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.98,0)"> <path d="M517 51L485 54C448 58 441 63 441 115V712C404 700 337 684 285 678V653C357 648 362 645 362 580V437C339 446 309 449 295 449C159 449 38 340 38 201C38 61 143 -12 223 -12C234 -12 261 -6 301 17L362 53V-12C420 9 495 22 517 26V51ZM362 85C338 67 301 51 266 51C201 51 128 109 128 228C128 373 212 411 259 411C296 411 338 395 362 360V85Z" id="g190-101"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,10.87,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>是10.2,这意味着这个任务应该最迟在10.2秒完成;如果该值的<svg height="11.3789pt" id="M5" style="vertical-align:-5.52892pt" version="1.1" viewbox="-0.0498162 -5.84998 17.2088 11.3789" width="17.2088pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <path d="M524 0V26C466 32 460 36 460 104V297C460 393 411 449 331 449C302 449 276 437 248 419C223 402 201 387 181 372V451C137 432 90 420 42 411V388C96 378 102 374 102 310V104C102 38 97 33 29 26V0H246V26C187 32 181 36 181 104V339C211 365 250 390 290 390C357 390 381 345 381 276V109C381 40 374 32 315 26V0H524Z" id="g190-111"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,12.683,3.132)"> <path d="M400 606C400 634 383 656 353 656C316 656 294 620 294 593C294 564 317 545 343 545C375 545 400 573 400 606ZM366 351C379 413 381 451 356 451C323 451 251 408 183 341L199 313C223 335 267 365 277 365C285 365 284 354 277 312C245 132 222 27 193 -100C182 -148 160 -188 131 -188C113 -188 90 -178 75 -170C64 -164 55 -168 48 -175C38 -185 24 -203 24 -222S48 -257 71 -257C89 -257 131 -241 186 -192C243 -141 286 -46 310 74L366 351Z" id="g50-107"></path> </g> </svg>是1500,这意味着无人机的飞行持续1500秒;如果该值的<svg height="14.8369pt" id="M6" style="vertical-align:-5.528999pt" version="1.1" viewbox="-0.0498162 -9.3079 15.669 14.8369" width="15.669pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M238 0V26C174 32 166 38 166 104V712C132 700 70 683 18 677V653C81 647 87 645 87 577V104C87 38 78 32 15 26V0H238Z" id="g190-109"></path> </g> <g transform="matrix(.013,0,0,-0.013,3.289,0)"> <path d="M54 437L27 408L31 397H101V103C101 37 94 32 30 26V0H266V25C187 33 180 36 180 110V397H288C299 404 304 428 298 437H180V477C179 562 190 610 203 630C214 647 230 659 256 659C289 659 318 641 337 622C346 612 355 612 364 619C374 627 380 635 383 643C388 655 387 667 378 678C362 697 333 710 299 712C260 707 225 689 189 659C135 613 119 563 112 541S101 490 101 458V437H54Z" id="g190-103"></path> </g> <g transform="matrix(.013,0,0,-0.013,7.164,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.144,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>是36,这意味着无人机呢<svg height="11.4899pt" id="M7" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M515 96L502 119C471 88 431 62 423 62C416 62 411 70 417 101C440 223 469 341 497 448H486L412 422L380 277C330 188 210 57 152 57C137 57 126 69 139 124L195 366C210 431 205 448 182 448C155 448 89 413 23 350L36 326C73 354 103 376 112 376C118 376 118 365 113 340L61 118C54 90 52 68 52 51C52 0 75 -12 98 -12S151 -3 181 17C242 58 305 119 362 193H364L345 104C323 3 339 -12 359 -12C390 -12 464 35 515 96Z" id="g113-118"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>会很忙直到36年代完成它的任务列表;如果该值的<svg height="9.25202pt" id="M8" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 8.49225 9.25202" width="8.49225pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M391 364C391 409 353 448 295 448C249 448 198 426 152 393C65 331 23 225 23 139C23 14 96 -12 146 -12C198 -12 280 9 367 101L351 124C300 78 242 48 194 48C129 48 109 107 109 162V191C208 213 391 266 391 364ZM313 350C313 305 268 261 113 223C132 334 187 381 217 398C227 404 244 405 261 405C290 405 313 385 313 350Z" id="g113-102"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,5.317,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>是3,这意味着无人机呢<svg height="11.4899pt" id="M9" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>应该花上3秒执行任务<span class="nowrap"> <svg height="11.1049pt" id="M10" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>。</span>如果该值的<svg height="13.1144pt" id="M11" style="vertical-align:-5.52892pt" version="1.1" viewbox="-0.0498162 -7.58548 17.2336 13.1144" width="17.2336pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M169 380V459C122 440 66 423 24 416V392C86 384 90 382 90 317V-135C90 -201 81 -207 17 -213V-240H253V-213C176 -207 169 -201 169 -125V6C182 -1 208 -11 238 -12C368 12 487 109 487 260C487 358 421 449 310 449C298 449 279 444 261 433L169 380ZM169 346C196 367 237 389 269 389C341 389 403 329 403 221C403 109 347 37 263 37C228 37 191 53 169 76V346Z" id="g190-113"></path> </g> <g transform="matrix(.013,0,0,-0.013,6.838,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,10.817,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.699,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>是10,这意味着无人机需要花10秒钟做好准备执行任务<svg height="11.1049pt" id="M12" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>完成后<svg height="11.4899pt" id="M13" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>任务列表的最后一个任务。</p> <div class="floats-partial-section partial-other-wrapper" data-section="tab1"> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表1</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/tab1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 主要符号的定义。</d我v> <a class="table-thumb-overlay" href="//www.newsama.com/journals/ijae/2020/8878136/tab1" target="_blank" aria-label="View full page"></a> </div> </div> <h5 id="sec3.2">3.2。任务模型和无人机模型</h5> <p>在本文中,我们选择三种代表性的任务,是侦察任务(<a href="#B30">30.</a>),惊人的任务(<a href="#B31">31日</a>),和损失评估任务(<a href="#B32">32</a>增加),分别研究任务分配算法。我们假设所有无人机起飞底部,以及每个无人机的起飞时间是由它的第一个任务分配。</p> <p>我们使用一组<span class="inline_break"> <svg height="12.5794pt" id="M62" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 19.548 12.5794" width="19.548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z" id="g113-85"></path> </g> <g transform="matrix(.013,0,0,-0.013,11.917,0)"> <path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z" id="g117-34"></path> </g> </svg><span class="irelop"></span> <svg height="12.5794pt" style="vertical-align:-3.29107pt" version="1.1" viewbox="23.1301838 -9.28833 16.789 12.5794" width="16.789pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,23.18,0)"> <path d="M293 -169V-141C218 -131 209 -90 209 -44C209 19 222 85 222 152C222 207 198 255 139 269V273C199 286 222 334 222 388C222 454 209 523 209 588C209 632 218 671 293 681V709C234 709 148 695 148 577C147 513 155 438 155 372C155 337 152 291 64 285V256C152 250 155 204 155 169C156 105 148 31 148 -41C148 -157 234 -169 293 -169Z" id="g113-124"></path> </g> <g transform="matrix(.013,0,0,-0.013,27.691,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,32.059,3.132)"> <path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path> </g> <g transform="matrix(.013,0,0,-0.013,37.005,0)"> <path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z" id="g113-45"></path> </g> </svg><span class="ipunc"></span> <svg height="12.5794pt" style="vertical-align:-3.29107pt" version="1.1" viewbox="42.0981838 -9.28833 12.279 12.5794" width="12.279pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,42.148,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,46.516,3.132)"> <path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path> </g> <g transform="matrix(.013,0,0,-0.013,51.463,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="12.5794pt" style="vertical-align:-3.29107pt" version="1.1" viewbox="56.5561838 -9.28833 12.278 12.5794" width="12.278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,56.606,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,60.974,3.132)"> <path d="M290 377C321 398 342 415 358 430C378 450 389 473 389 502C389 578 329 635 238 635H237C184 635 137 610 109 578L64 515L88 493C112 529 154 573 208 573S303 542 303 482C303 409 233 370 141 341L149 308C165 313 190 319 215 319C272 319 341 283 341 193C342 98 292 43 222 43C163 43 122 72 96 94C88 101 79 100 70 94C61 87 47 73 46 60C44 47 48 37 62 23C76 10 118 -12 165 -12C238 -12 430 62 430 223C430 297 379 359 290 375V377Z" id="g50-52"></path> </g> <g transform="matrix(.013,0,0,-0.013,65.92,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="12.5794pt" style="vertical-align:-3.29107pt" version="1.1" viewbox="71.0141838 -9.28833 20.605 12.5794" width="20.605pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,71.064,0)"> <path d="M170 255C170 288 146 313 114 313S58 288 58 255C58 221 82 198 114 198S170 221 170 255Z" id="g113-46"></path> </g> <g transform="matrix(.013,0,0,-0.013,76.207,0)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,81.35,0)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,88.705,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="12.5794pt" style="vertical-align:-3.29107pt" version="1.1" viewbox="93.7981838 -9.28833 14.353 12.5794" width="14.353pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,93.848,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,98.216,3.132)"> <path d="M504 89L488 119C453 85 428 69 416 69C408 69 405 75 412 102L462 304C492 438 460 451 436 451S388 441 356 423C311 397 229 336 170 256H168L189 340C208 418 200 451 177 451C144 451 82 413 24 352L40 322C65 345 98 369 108 369C114 369 119 363 112 335L28 -3L36 -12C54 -3 83 4 112 10C125 73 138 122 153 174C205 258 328 382 376 382C395 382 399 369 384 305L330 93C312 25 323 -12 351 -12C378 -12 439 21 504 89Z" id="g50-111"></path> </g> <g transform="matrix(.013,0,0,-0.013,103.391,0)"> <path d="M283 255V284C195 290 192 337 192 375C192 436 200 508 200 580C200 696 116 709 54 709V681C127 671 139 634 139 588C138 524 125 452 125 387C125 333 149 286 209 272V268C148 253 125 206 125 151C126 87 139 16 139 -47C139 -92 127 -131 54 -141V-169C115 -169 200 -152 200 -41C200 32 192 104 192 164C192 202 195 249 283 255Z" id="g113-126"></path> </g> </svg></span>表示不定期地到的实时任务。被指派的任务是进口的指挥官,耦合任务的分解过程可以处理;因此,我们假设要调度的任务是独立的。此外,无人机在战场上的资源将面临复杂的对抗环境和疲软的通信环境。这将是难以安排任务在一个先发制人的模式,需要可靠的实时状态参数。因此,任务集<svg height="9.01194pt" id="M63" style="vertical-align:-0.04981995pt" version="1.1" viewbox="-0.0498162 -8.96212 8.41168 9.01194" width="8.41168pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-85"></use> </g> </svg>无优先的和独立的策略来模拟无人机任务在对抗的环境中。</p> <p>我们模型的任务<span class="inline_break"> <svg height="12.2532pt" id="M64" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -8.96212 17.92 12.2532" width="17.92pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,11.056,0)"> <path d="M448 1V51H364C248 51 153 129 140 230H448V280H140C153 381 248 459 364 459H448V509H365C208 509 80 395 80 255S208 1 365 1H448Z" id="g117-173"></path> </g> </svg><span class="irelop"></span> <svg height="12.2532pt" style="vertical-align:-3.29108pt" version="1.1" viewbox="21.5011838 -8.96212 8.454 12.2532" width="8.454pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,21.551,0)"> <use xlink:href="#g113-85"></use> </g> </svg></span>作为一个元组<span class="inline_break"> <svg height="13.3049pt" id="M65" style="vertical-align:-3.997pt" version="1.1" viewbox="-0.0498162 -9.3079 18.687 13.3049" width="18.687pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,11.056,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="13.3049pt" style="vertical-align:-3.997pt" version="1.1" viewbox="22.268183800000003 -9.3079 18.687 13.3049" width="18.687pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,22.318,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,26.686,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,33.374,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="13.3049pt" style="vertical-align:-3.997pt" version="1.1" viewbox="44.5871838 -9.3079 20.487 13.3049" width="20.487pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,44.637,0)"> <path d="M300 -147C201 -63 143 98 143 270S200 602 300 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<use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="13.3049pt" style="vertical-align:-3.997pt" version="1.1" viewbox="104.22818380000001 -9.3079 13.404 13.3049" width="13.404pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,104.278,0)"> <path d="M570 304C570 398 525 448 414 448C385 448 343 445 312 434L329 511L321 518C297 504 262 482 244 460L233 411C195 397 159 381 128 358L135 332C160 347 189 360 224 373L111 -147C97 -210 84 -218 17 -231L13 -257L254 -247L259 -218L233 -216C183 -212 177 -202 189 -142L218 -1C238 -10 266 -12 283 -12C351 3 429 48 483 105C543 168 570 242 570 304ZM482 289C482 161 380 33 304 33C278 33 248 51 233 69L303 396C326 400 352 403 369 403C428 403 482 380 482 289Z" id="g113-113"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,111.662,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,114.718,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="13.3049pt" style="vertical-align:-3.997pt" version="1.1" viewbox="119.81118380000001 -9.3079 15.545 13.3049" width="15.545pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,119.861,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,125.407,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,129.387,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,132.442,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span><span class="nowrap"> <svg height="13.3049pt" style="vertical-align:-3.997pt" version="1.1" viewbox="137.5351838 -9.3079 16.147 13.3049" width="16.147pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,137.585,0)"> <path d="M319 325C317 349 306 409 297 431C277 440 250 449 209 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style="vertical-align:-3.99702pt" version="1.1" viewbox="-0.0498162 -7.58548 13.1245 11.5825" width="13.1245pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.98,0)"> <use xlink:href="#g190-122"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.969,3.838)"> <use xlink:href="#g50-106"></use> </g> </svg>,</span><span class="nowrap"> <svg height="10.8766pt" id="M67" style="vertical-align:-3.29112pt" version="1.1" viewbox="-0.0498162 -7.58548 12.8636 10.8766" width="12.8636pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.98,0)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.708,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>,</span><span class="nowrap"> <svg height="12.599pt" id="M68" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -9.3079 14.0249 12.599" width="14.0249pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.98,0)"> <use xlink:href="#g190-101"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,10.87,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>,</span><span class="nowrap"> <svg height="10.2124pt" id="M69" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -6.78297 10.567 10.2124" width="10.567pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>,</span><span class="nowrap"> <svg height="10.8766pt" id="M70" style="vertical-align:-3.29112pt" version="1.1" viewbox="-0.0498162 -7.58548 12.6809 10.8766" width="12.6809pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>,</span>和<svg height="11.5747pt" id="M71" style="vertical-align:-3.29113pt" version="1.1" viewbox="-0.0498162 -8.28357 11.4412 11.5747" width="11.4412pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.789,0)"> <use xlink:href="#g190-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,8.286,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>代表任务<svg height="11.1049pt" id="M72" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>任务类型,到达时间,截止日期,任务执行的位置,任务执行environment-threatened价值,和补充教学,分别。值得注意的是,任务类型可以侦察、引人注目,或者损失评估的任务。</p> <p>让<span class="inline_break"> <svg height="12.5794pt" id="M73" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 20.717 12.5794" width="20.717pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z" id="g113-86"></path> </g> <g transform="matrix(.013,0,0,-0.013,13.086,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="12.5794pt" style="vertical-align:-3.29107pt" version="1.1" viewbox="24.2991838 -9.28833 19.35 12.5794" width="19.35pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,24.349,0)"> <use xlink:href="#g113-124"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.86,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,35.789,3.132)"> <use xlink:href="#g50-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.735,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="12.5794pt" style="vertical-align:-3.29107pt" version="1.1" viewbox="45.8281838 -9.28833 14.84 12.5794" width="14.84pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,45.878,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,52.808,3.132)"> <use xlink:href="#g50-51"></use> </g> <g transform="matrix(.013,0,0,-0.013,57.754,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="12.5794pt" style="vertical-align:-3.29107pt" version="1.1" viewbox="62.847183799999996 -9.28833 14.839 12.5794" width="14.839pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,62.897,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,69.826,3.132)"> <use xlink:href="#g50-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,74.772,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="12.5794pt" style="vertical-align:-3.29107pt" version="1.1" viewbox="79.8661838 -9.28833 20.605 12.5794" width="20.605pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,79.916,0)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,85.059,0)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,90.202,0)"> <use xlink:href="#g113-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,97.557,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="12.5794pt" style="vertical-align:-3.29107pt" version="1.1" viewbox="102.65018380000001 -9.28833 19.634 12.5794" width="19.634pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,102.7,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,109.629,3.132)"> <path d="M781 91L765 118C733 86 702 70 693 70C686 70 685 77 692 106L738 297C772 439 736 451 712 451S675 445 647 431C605 410 526 356 452 257H450L459 294C491 426 459 451 429 451C403 451 386 445 361 431C312 404 239 343 170 253H168L188 333C208 411 205 451 175 451C148 451 85 417 24 346L39 318C57 338 100 374 112 374C120 374 122 372 115 339C91 226 62 112 28 -6L37 -12C59 -4 87 3 114 6C125 68 142 127 154 168C184 227 316 383 372 383C397 383 396 366 381 289C362 192 338 92 312 -6L317 -12C339 -5 367 3 396 6L434 170C468 234 598 383 650 383C668 383 676 369 664 319L609 90C593 23 600 -12 629 -12C654 -12 722 23 781 91Z" id="g50-110"></path> </g> <g transform="matrix(.013,0,0,-0.013,117.481,0)"> <use xlink:href="#g113-126"></use> </g> </svg></span>一套无人机无人机<svg height="11.4899pt" id="M74" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>被建模为一个元组吗<span class="inline_break"> <svg height="15.3079pt" id="M75" style="vertical-align:-6pt" version="1.1" viewbox="-0.0498162 -9.3079 21.247 15.3079" width="21.247pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.616,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="15.3079pt" style="vertical-align:-6pt" version="1.1" viewbox="24.829183800000003 -9.3079 24.572 15.3079" width="24.572pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,24.879,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.377,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,34.923,0)"> <use xlink:href="#g190-111"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,42.061,3.132)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,46.487,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="15.3079pt" style="vertical-align:-6pt" version="1.1" viewbox="51.5801838 -9.3079 13.2 15.3079" width="13.2pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,51.63,0)"> <path d="M219 86C216 168 211 250 206 337C201 410 189 448 163 448C131 448 79 396 43 344L60 322C91 359 110 375 118 375S132 358 136 298C141 238 152 81 155 -12H182C242 62 331 177 390 258C435 321 451 360 451 391C450 424 432 448 408 448C390 448 372 435 366 419C362 410 362 401 366 394C373 383 376 367 376 350C376 283 262 138 221 86H219Z" id="g185-40"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,57.441,3.132)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,61.866,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="15.3079pt" style="vertical-align:-6pt" version="1.1" viewbox="66.96018380000001 -9.3079 17.098 15.3079" width="17.098pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,67.01,0)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,72.738,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,76.718,3.132)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,81.144,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="15.3079pt" style="vertical-align:-6pt" version="1.1" viewbox="86.23718380000001 -9.3079 18.533 15.3079" width="18.533pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,86.287,0)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,89.576,0)"> <use xlink:href="#g190-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,93.45,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,97.43,3.132)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,101.856,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="15.3079pt" style="vertical-align:-6pt" version="1.1" viewbox="106.9491838 -9.3079 21.352 15.3079" width="21.352pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,106.999,0)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,110.132,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,114.124,0)"> <use xlink:href="#g190-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,120.961,3.603)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,125.387,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="15.3079pt" style="vertical-align:-6pt" version="1.1" viewbox="130.4801838 -9.3079 21.783 15.3079" width="21.783pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,130.53,0)"> <path d="M181 342V451C133 431 89 419 40 411V388C98 381 102 377 102 311V104C102 38 95 32 33 26V0H263V26C186 32 181 38 181 104V287C203 343 235 372 261 372C277 372 289 366 304 352C310 346 318 345 330 350C349 359 362 379 362 399C362 422 338 449 304 449C256 449 213 393 183 342H181Z" id="g190-115"></path> </g> <g transform="matrix(.013,0,0,-0.013,135.275,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,140.082,0)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,144.923,3.132)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,149.349,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span><span class="nowrap"> <svg height="15.3079pt" style="vertical-align:-6pt" version="1.1" viewbox="154.44218379999998 -9.3079 21.087 15.3079" width="21.087pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,154.492,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,158.522,0)"> <use xlink:href="#g190-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,162.399,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,166.379,3.132)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,170.805,0)"> <use xlink:href="#g113-42"></use> </g> </svg>,</span></span>在哪里<span class="nowrap"> <svg height="11.3789pt" id="M76" style="vertical-align:-5.52892pt" version="1.1" viewbox="-0.0498162 -5.84998 17.2088 11.3789" width="17.2088pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-111"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.683,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span><span class="nowrap"> <svg height="11.3463pt" id="M77" style="vertical-align:-5.52893pt" version="1.1" viewbox="-0.0498162 -5.81737 10.3582 11.3463" width="10.3582pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g185-40"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,5.811,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span><span class="nowrap"> <svg height="13.1144pt" id="M78" style="vertical-align:-5.52892pt" version="1.1" viewbox="-0.0498162 -7.58548 14.2337 13.1144" width="14.2337pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.728,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.708,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span><span class="nowrap"> <svg height="14.8369pt" id="M79" style="vertical-align:-5.528999pt" version="1.1" viewbox="-0.0498162 -9.3079 15.669 14.8369" width="15.669pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.289,0)"> <use xlink:href="#g190-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.164,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.144,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span><span class="nowrap"> <svg height="15.3079pt" id="M80" style="vertical-align:-6pt" version="1.1" viewbox="-0.0498162 -9.3079 18.4876 15.3079" width="18.4876pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.132,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.125,0)"> <use xlink:href="#g190-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,13.962,3.603)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span><span class="nowrap"> <svg height="11.3789pt" id="M81" style="vertical-align:-5.52892pt" version="1.1" viewbox="-0.0498162 -5.84998 18.9182 11.3789" width="18.9182pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.745,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.552,0)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,14.393,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span>和<svg height="14.8369pt" id="M82" style="vertical-align:-5.528999pt" version="1.1" viewbox="-0.0498162 -9.3079 16.4128 14.8369" width="16.4128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.03,0)"> <use xlink:href="#g190-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.908,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.887,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>表示无人机<svg height="11.4899pt" id="M83" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>的持续时间、飞行速度、能力类型设置,完成时间上分配的任务,最后的位置分配任务,保持惊人的资源,和总飞行时间,分别。应该注意的是,的能力类型可以侦察能力或引人注目的能力和损伤评估能力。的元素<svg height="11.3789pt" id="M84" style="vertical-align:-5.52892pt" version="1.1" viewbox="-0.0498162 -5.84998 18.9182 11.3789" width="18.9182pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.745,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.552,0)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,14.393,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>代表了惊人的资源仍在<span class="nowrap"> <svg height="11.4899pt" id="M85" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>;</span>时的值<svg height="11.3789pt" id="M86" style="vertical-align:-5.52892pt" version="1.1" viewbox="-0.0498162 -5.84998 18.9182 11.3789" width="18.9182pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.745,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.552,0)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,14.393,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>= 0,这意味着无人机呢<svg height="11.4899pt" id="M87" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>不再能承担的任务。此外,<svg height="14.8369pt" id="M88" style="vertical-align:-5.528999pt" version="1.1" viewbox="-0.0498162 -9.3079 16.4128 14.8369" width="16.4128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.03,0)"> <use xlink:href="#g190-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.908,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.887,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>用于指示的总飞行时间吗<span class="nowrap"> <svg height="11.4899pt" id="M89" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span>当无人机<svg height="11.4899pt" id="M90" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>在对抗环境受损,<svg height="14.8369pt" id="M91" style="vertical-align:-5.528999pt" version="1.1" viewbox="-0.0498162 -9.3079 16.4128 14.8369" width="16.4128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.03,0)"> <use xlink:href="#g190-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.908,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.887,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>代表着时间从起飞到终点的时刻<svg height="11.4899pt" id="M92" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>去年成功执行的任务;否则,<svg height="14.8369pt" id="M93" style="vertical-align:-5.528999pt" version="1.1" viewbox="-0.0498162 -9.3079 16.4128 14.8369" width="16.4128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.03,0)"> <use xlink:href="#g190-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.908,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.887,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>是时候从起飞到着陆。</p> <p>还有许多其他参数相关的无人机,和任务应该详细说明。把图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig1/" target="_blank">1</a>作为一个例子:<svg height="11.1049pt" id="M94" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.63139 11.1049" width="9.63139pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <path d="M485 418C485 434 469 451 441 451C389 451 312 387 255 335C221 304 194 278 159 242H157L259 678C264 698 264 710 255 710C242 710 183 681 96 673L90 643L128 642C165 641 171 640 162 602L24 -5L31 -12C51 -4 81 4 110 9L145 181C154 195 180 220 205 242C233 170 263 106 291 53C318 1 335 -12 360 -12C383 -12 425 0 483 82L463 105C437 79 411 57 400 57C388 57 378 68 355 110C329 156 288 244 268 298C299 333 355 376 405 376C426 376 440 373 448 368C453 365 465 368 468 373C477 386 485 405 485 418Z" id="g50-108"></path> </g> </svg>是最后在无人机任务需要处理吗<svg height="11.4899pt" id="M95" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>的任务列表<svg height="11.1049pt" id="M96" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>是被分配一项任务。我们使用<svg height="13.1144pt" id="M97" style="vertical-align:-5.52892pt" version="1.1" viewbox="-0.0498162 -7.58548 17.2336 13.1144" width="17.2336pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,6.838,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,10.817,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.699,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>表示无人机的准备时间<svg height="11.4899pt" id="M98" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>执行任务<span class="nowrap"> <svg height="11.1049pt" id="M99" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>,</span>主要指的是飞行时间从职位<svg height="10.2124pt" id="M100" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -6.78297 12.6587 10.2124" width="12.6587pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>定位<span class="nowrap"> <svg height="10.2124pt" id="M101" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -6.78297 10.567 10.2124" width="10.567pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>。</span>值得注意的是,<svg height="13.1144pt" id="M102" style="vertical-align:-5.52892pt" version="1.1" viewbox="-0.0498162 -7.58548 17.2336 13.1144" width="17.2336pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-113"></use> </g> <g transform="matrix(.013,0,0,-0.013,6.838,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,10.817,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.699,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>将从无人机基地位置指的是飞行时间任务<svg height="11.1049pt" id="M103" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>执行位置当没有任务被分配给无人机<span class="nowrap"> <svg height="11.4899pt" id="M104" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>。</span>我们使用<svg height="12.124pt" id="M105" style="vertical-align:-5.99999pt" version="1.1" viewbox="-0.0498162 -6.12401 18.0426 12.124" width="18.0426pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.789,0)"> <use xlink:href="#g190-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.626,3.603)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,13.508,3.603)"> <use xlink:href="#g50-107"></use> </g> </svg>和<svg height="11.3789pt" id="M106" style="vertical-align:-5.52892pt" version="1.1" viewbox="-0.0498162 -5.84998 16.7507 11.3789" width="16.7507pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.789,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,10.335,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.216,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>代表准备开始时间和执行任务的开始时间<svg height="11.1049pt" id="M107" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>在无人机<span class="nowrap"> <svg height="11.4899pt" id="M108" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span>其中<svg height="12.124pt" id="M109" style="vertical-align:-5.99999pt" version="1.1" viewbox="-0.0498162 -6.12401 18.0426 12.124" width="18.0426pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.789,0)"> <use xlink:href="#g190-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.626,3.603)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,13.508,3.603)"> <use xlink:href="#g50-107"></use> </g> </svg>意味着准备过程的开始时间。的参数<svg height="15.0652pt" id="M110" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 31.3246 15.0652" width="31.3246pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.706,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.704,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.202,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.57,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.642,-5.741)"> <path d="M598 511C598 627 497 650 401 650H141L131 618C219 611 222 606 210 538L130 119C117 43 108 39 25 32L18 0H236C324 0 396 5 456 30C531 59 585 119 585 193C585 285 520 331 428 351V353C529 373 598 423 598 511ZM502 508C502 418 431 368 330 368H263L298 559C303 584 308 595 317 600C329 608 345 612 369 612C428 612 502 595 502 508ZM483 197C483 95 404 39 309 39C225 39 206 58 219 139L256 330H317C395 330 483 301 483 197Z" id="g50-67"></path> </g> <g transform="matrix(.013,0,0,-0.013,26.693,0)"> <use xlink:href="#g113-42"></use> </g> </svg>是用来表示状态的备份任务<span class="nowrap"> <svg height="15.0652pt" id="M111" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.5913 15.0652" width="13.5913pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>,</span>和它的价值将在第4部分中描述。的<svg height="14.8369pt" id="M112" style="vertical-align:-5.528999pt" version="1.1" viewbox="-0.0498162 -9.3079 15.669 14.8369" width="15.669pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.289,0)"> <use xlink:href="#g190-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.164,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.144,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>是最后一个任务的完成时间,分配给无人机呢<span class="nowrap"> <svg height="11.4899pt" id="M113" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>;</span>把图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig1/" target="_blank">1</a>作为一个例子:的价值<svg height="14.8369pt" id="M114" style="vertical-align:-5.528999pt" version="1.1" viewbox="-0.0498162 -9.3079 15.669 14.8369" width="15.669pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.289,0)"> <use xlink:href="#g190-103"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.164,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.144,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>等于<svg height="14.8173pt" id="M115" style="vertical-align:-5.52897pt" version="1.1" viewbox="-0.0498162 -9.28833 15.3363 14.8173" width="15.3363pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M619 670C619 686 593 712 555 712S459 686 410 634S335 504 320 430H250L219 400L222 388H312L258 73C223 -133 201 -166 187 -180C175 -191 158 -199 140 -199C123 -199 88 -188 74 -172C68 -166 63 -164 54 -171C38 -185 23 -201 23 -215C23 -236 60 -261 93 -261C122 -261 161 -247 207 -200C268 -138 300 -71 337 94C365 220 376 277 394 387L501 399L521 430H401C432 623 464 665 501 665C524 665 544 651 567 627C577 617 583 618 592 625C601 631 619 651 619 670Z" id="g113-103"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,6.721,3.132)"> <use xlink:href="#g50-108"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,10.768,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>之前的任务<svg height="11.1049pt" id="M116" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>分配的价值等于<svg height="14.8173pt" id="M117" style="vertical-align:-5.52897pt" version="1.1" viewbox="-0.0498162 -9.28833 13.1623 14.8173" width="13.1623pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-103"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.721,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,8.602,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>后任务。此外,在分配过程中这些参数之间的关系可以被描述为方程(<a href="#EEq1">1</a>),这些参数可以在表中找到<a href="//www.newsama.com/journals/ijae/2020/8878136/tab1/" target="_blank">1</a>。<span class="equation_break" id="EEq1"><span class="left_break" id="L118"></span><span class="middle_break"><span class="center_break" id="M118"> <svg height="59.9411pt" id="M118-1" version="1.1" viewbox="0 0 112.194 59.9411" width="112.194pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B118-1"> <g transform="matrix(.013,0,0,-0.013,0,15.095)"> <path d="M660 1109V1150C557 1150 406 1122 406 886V0H513V923C513 1011 529 1089 660 1109Z" 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transform="matrix(.0091,0,0,-0.0091,22.29,15.674)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,24.17,15.674)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.24,12.072)"> <path d="M531 285V335L57 550V494L473 310L57 127V71L531 285ZM531 -40V10H57V-40H531Z" id="g117-94"></path> </g> <g transform="matrix(.013,0,0,-0.013,43.5,12.072)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,47.54,12.072)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,53.29,15.203)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,56.34,12.072)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.73,32.711)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,15.6,32.711)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,21.17,35.843)"> <use xlink:href="#g50-106"></use> </g> <g 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transform="matrix(.0091,0,0,-0.0091,86.25,36.314)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,90.69,32.711)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.73,53.351)"> <use xlink:href="#g113-103"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.45,56.483)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,19.33,56.483)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.4,53.351)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,38.66,53.351)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,43.54,53.351)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,49.1,56.483)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,50.98,56.483)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,58.32,53.351)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,68.86,53.351)"> <use xlink:href="#g113-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,74.17,56.483)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,76.06,56.483)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,84.12,53.351)"> <path d="M531 71V127L115 310L531 494V550L57 335V285L531 71ZM531 -40V10H57V-40H531Z" id="g117-93"></path> </g> <g transform="matrix(.013,0,0,-0.013,95.39,53.351)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,99.27,53.351)"> <use xlink:href="#g190-101"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,106.18,56.483)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,109.23,53.351)"> <path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z" id="g113-47"></path> </g> </g> </svg></span></span><span class="right_break" id="R118"> <svg class="label" height="11.44pt" id="M118-2" version="1.1" viewbox="0 0 13.398 11.44" width="13.398pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B118-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 611 70 451 70 272V271C70 90 136 -71 282 -169L300 -147Z" id="g190-41"></path> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M311 0V25C221 32 216 41 216 113V635C162 613 103 594 39 583V559L88 556C131 552 135 546 135 500V113C135 41 131 32 40 25V0H311Z" id="g190-213"></path> </g> <g transform="matrix(.013,0,0,-0.013,8.9,9.26)"> <path d="M275 271C275 451 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 269V271Z" id="g190-42"></path> </g> </g> </svg></span></span></p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-9fafca646ac24adcd66de0c6dfef0893"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.001.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-9fafca646ac24adcd66de0c6dfef0893 partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.001_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-9fafca646ac24adcd66de0c6dfef0893 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图1</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 任务分配的参数。</d我v> </div> </div> </div> <h5 id="sec3.3">3.3。任务分配框架</h5> <p>在对抗作战环境中,各种威胁因素(敌人的火力,高电磁环境,恶劣的自然环境,等等)很容易使无人机的任务失败。为了提高任务成功率,我们设计了一个新的任务分配框架,如图所示<a href="//www.newsama.com/journals/ijae/2020/8878136/fig2/" target="_blank">2</a>。</p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-a6608524997b64a3f9c982a3506fd0b7"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.002.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-a6608524997b64a3f9c982a3506fd0b7 partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.002_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-a6608524997b64a3f9c982a3506fd0b7 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图2</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 任务分配框架。</d我v> </div> </div> </div> <p>不同于其他无人机任务分配框架(<a href="#B21">21</a>),我们使用任务备份提高任务的成功概率。我们可以看到在图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig2/" target="_blank">2</a>生成的任务指挥官,谁将设计根据战斗作战行动的目的,卫星观测,和无人机侦察。当一个指挥官输入任务分配系统,任务管理器会分析相关参数和选择可用的无人机作为候选人。然后,任务调度器会分配任务的主要复制到一个适当的无人机,和备份的副本任务,如果需要,将安排在此期间。有两个主要原因我们选择备份机制而不是实时破坏后重新分配,一个是可用的无人机可能被其他任务之前与宽松的时间限制损害发生的时候,另一个是疲软的通信条件不支持实时重新分配的要求实时状态参数。</p> <p>备份副本备份控制器需要管理任务。在作业过程中,是否需要一个任务的备份是由环境决定的任务,这是因为无人机在更具威胁的环境中有更高的概率被敌人破坏;因此,备份是必需的。在管理过程中,备份控制器将取消备份<svg height="15.0652pt" id="M119" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.5913 15.0652" width="13.5913pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>当主副本<svg height="15.0652pt" id="M120" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.7192 15.0652" width="13.7192pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <path d="M622 479C622 589 545 650 400 650H146L140 618C229 609 230 602 215 527L135 132C117 43 112 41 27 32L18 0H305L313 32C213 40 205 44 222 132L251 284L324 262H365C484 269 622 333 622 479ZM528 477C528 356 420 305 344 305C300 305 276 314 259 321L303 554C311 597 313 600 331 606C345 611 361 614 379 614C463 614 528 580 528 477Z" id="g50-81"></path> </g> </svg>已经成功执行,在其他情况下,备份将不会取消,直到其执行。</p> <p>无人机,他们收到任务从任务分配系统信息和报告他们的系统状态信息。此外,无人机将提供情报信息为战场指挥官的计划。</p> <h5 id="sec3.4">3.4。损伤模型</h5> <p>在我们的研究中,我们关注的战斗损伤无人机在对抗的环境中。如果一个无人机在执行过程中,受损的任务无法完成列表。在我们的研究中,我们应用一个备份机制来战场任务来促进他们的成功概率。</p> <p>此外,破坏性检测机制像失败的信号<a href="#B28">28</a>,<a href="#B33">33</a>)是存在于无人机、报告对无人机战斗的损失。此外,新来的任务不会被分配到一个已知的受损的无人机。</p> <p>至于破坏概率的无人机<svg height="11.4899pt" id="M121" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>执行任务<span class="nowrap"> <svg height="11.1049pt" id="M122" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g 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xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M411 139C381 76 368 73 314 73H129L267 224C351 317 400 380 400 469C400 574 322 635 233 635C176 635 128 610 98 576L40 495L63 476C89 515 130 568 198 568C274 568 316 519 316 436C316 347 251 264 191 192C142 134 85 76 30 21V0H403C415 45 425 89 438 131L411 139Z" id="g190-243"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.54,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>在这篇文章中,我们将首先分析无人机之一两个相关的损害(主要和备份关系)无人机。然后,我们将扩展模型multi-UAV赔偿。,将讨论multidamage场景的机制破坏公差。</p> <p>破坏模式会忽略一些不重要的因素对实际的场景。这是因为我们的论文是一个原始创新基础研究对无人机在对抗的环境中,增加的问题,我们关注的是增加的机制和规则的问题。进一步的研究将考虑一个更复杂的场景和考虑更复杂的因素。</p> <h5 id="sec3.5">3.5。任务目标</h5> <p>在我们的研究中,我们关注对抗环境中的无人机的任务分配过程。这样的一个场景是,无人机的特点可能被敌人破坏,使任务容易失败,无人机可用资源通常是有限的。因此,我们考虑一个备份算法推广成功的概率。的主要目标是容纳尽可能多的战场任务,实现异构无人机的利用率更高。此外,我们研究了备份机制来节省资源重叠使无人机尽可能高的利用率的情况下确保任务成功。</p> <p>的首要任务目标建模公式(<a href="#EEq3">3</a>)是最大化成功分配的任务在时间约束下的数量。<span class="equation_break" 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id="B125-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M269 381C298 400 325 421 340 436C360 455 370 476 370 504C370 579 313 635 223 635H222C170 635 123 610 95 579L52 516L72 497C95 533 136 577 193 577C245 577 286 546 286 482C286 408 218 369 127 339L133 314C149 319 174 325 197 325C254 325 324 285 324 192C325 83 266 39 201 39C143 39 103 68 78 91C70 98 62 97 54 91C45 84 33 71 32 58C30 46 34 35 48 22C61 10 102 -12 148 -12C216 -12 410 57 410 225C410 298 357 362 269 379V381Z" id="g190-232"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.37,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>至于利用无人机,值越高,越好。我们描述的目标<span class="equation_break" id="EEq4"><span class="left_break" id="L126"></span><span class="middle_break"><span class="center_break" id="M126"> <svg height="38.0479pt" id="M126-1" version="1.1" viewbox="0 0 158.724 38.0479" width="158.724pt" 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viewbox="0 0 15.458 11.44" width="15.458pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B126-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M465 179V225H369V632H330C227 497 124 346 29 205V179H289V107C289 37 284 33 198 26V0H454V26C374 33 369 37 369 107V179H465ZM289 225H92C156 335 222 430 287 520H289V225Z" id="g190-166"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.96,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></p> <p>上述方程表明,增加我们的作业计划必须瞄准调度多个任务为成功执行无人机在复杂的约束条件,实现更高的资源利用率。</p> <h4 id="damage-tolerant-mechanism">4所示。增加的机制</h4> <p>处理这个问题,无人机可能损坏在对抗的战场环境中,任务备份机制是用于我们的工作损害宽容。备份机制的主要思想是,一个到达任务可能有一个备份,这是由environment-threatened决定的条件,在另一个无人机的破坏问题。此外,备份重叠的方法,其中包括Backup-Primary (BP)重叠和Backup-Backup (BB)重叠,是用于保存无人机资源。这是因为任务备份副本的相当大的部分只占无人机时间段但不要过程无人机破坏概率不是很高。</p> <h5 id="sec4.1">4.1。BP重叠模型</h5> <p>结果和讨论可能单独提出,或在一个部分相结合,可以被分成部分。</p> <p>把图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig3/" target="_blank">3</a>作为一个例子来说明备份和BP重叠模型。反斜杠矩形代表任务的备份<span class="nowrap"> <svg height="11.1049pt" id="M127" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <path d="M490 97L476 124C442 96 405 70 398 70C392 70 390 78 396 114C419 243 448 379 463 432L457 436C446 436 431 439 418 442C393 447 368 451 343 451C281 451 204 418 155 381C74 320 24 206 24 107C24 23 59 -12 88 -12C118 -12 155 5 191 34C236 70 290 122 328 177H330L312 84C296 0 311 -12 331 -12C355 -12 425 24 490 97ZM374 387C371 367 360 299 347 264C323 202 187 53 142 53C128 53 113 73 113 120C113 224 157 332 221 380C241 395 274 403 303 403C330 403 360 395 374 387Z" id="g50-98"></path> </g> </svg>。</span>应该注意的是,主复制和备份的准备时间会有所不同;这是因为候选人无人机的位置是不同的。如图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig3/" target="_blank">3</a>的部分,<svg height="15.0652pt" id="M128" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>和<svg height="15.0652pt" id="M129" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <path d="M460 334C460 396 434 451 378 451C330 451 241 408 148 300H146L237 679C241 697 241 710 232 710C213 710 153 684 67 675L66 646H95C141 646 145 642 134 595L39 170C23 97 31 54 46 33C64 8 100 -12 137 -12C178 -12 234 3 298 43C391 101 460 222 460 334ZM371 320C371 204 316 89 248 51C230 41 208 37 192 37C143 37 102 72 119 166C124 194 129 215 135 235C202 323 298 392 335 392C353 392 371 372 371 320Z" id="g50-99"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>同时在<svg height="9.25202pt" id="M130" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>时间轴是重叠的。</p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-9989cd42743e464baa9040d4b49729ca"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.003.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-9989cd42743e464baa9040d4b49729ca partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.003_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-9989cd42743e464baa9040d4b49729ca partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图3</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig3/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 英国石油(BP)重叠的一个例子。</d我v> </div> </div> </div> <p>设置之前,我们首先分析了情况,最多一个损坏的问题发生在一定的时间段,所以会有无人机在图4例<a href="//www.newsama.com/journals/ijae/2020/8878136/fig3/" target="_blank">3</a>:<span class="list"><span class="list-item"><span class="list-label">(我)</span><span class="list-content">如果无人机<span class="nowrap"> <svg height="11.4899pt" id="M131" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span><span class="nowrap"> <svg height="9.25202pt" id="M132" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>,</span>和<svg height="9.25202pt" id="M133" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 10.0281 9.25202" width="10.0281pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <path d="M238 675C244 702 241 710 231 710C220 710 155 682 74 673L70 643H101C147 643 151 635 142 594L39 111C18 11 36 -12 55 -12C89 -12 170 38 223 103L207 129C176 98 130 68 118 68C113 68 108 72 114 102L238 675Z" id="g50-109"></path> </g> </svg>遇到没有损坏,<svg height="15.0652pt" id="M134" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>将成功处理,备份副本吗<svg height="15.0652pt" id="M135" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>将被取消。此外,一个时间段的<svg height="9.25202pt" id="M136" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>被<svg height="15.0652pt" id="M137" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>将被释放,任务<svg height="15.0652pt" id="M138" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>将被执行。最后,<svg height="11.1049pt" id="M139" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>和<svg height="11.1049pt" id="M140" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.34823 11.1049" width="9.34823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> </svg>将成功地执行和备份的副本将被取消,没有任务冲突</span></span><span class="list-item"><span class="list-label">(2)</span><span class="list-content">如果无人机<svg height="11.4899pt" id="M141" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>遇到一个损害问题在时间槽,任务<svg height="15.0652pt" id="M142" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>会失败,导致备份的情况吗<svg height="15.0652pt" id="M143" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>公差应该处理损害。因此,任务<svg height="15.0652pt" id="M144" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>将被取消,备份任务<svg height="15.0652pt" id="M145" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>将被执行。最后,任务<svg height="11.1049pt" id="M146" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>和<svg height="11.1049pt" id="M147" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.34823 11.1049" width="9.34823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> </svg>将成功执行的情况吗<svg height="11.4899pt" id="M148" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>的被破坏,没有任务冲突</span></span><span class="list-item"><span class="list-label">(3)</span><span class="list-content">如果无人机<svg height="9.25202pt" id="M149" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>遇到一个损害问题在时间槽,任务<svg height="15.0652pt" id="M150" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>会失败,任务<svg height="15.0652pt" id="M151" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>和任务<svg height="15.0652pt" id="M152" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>将成功处理。最后,任务<svg height="11.1049pt" id="M153" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>和<svg height="11.1049pt" id="M154" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.34823 11.1049" width="9.34823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> </svg>将完成的情况<svg height="9.25202pt" id="M155" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>的被破坏,没有任务冲突</span></span><span class="list-item"><span class="list-label">(iv)</span><span class="list-content">如果无人机<svg height="9.25202pt" id="M156" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 10.0281 9.25202" width="10.0281pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-109"></use> </g> </svg>遇到一个损坏的问题,任务<svg height="15.0652pt" id="M157" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>和任务<svg height="15.0652pt" id="M158" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>将成功完成,任务<svg height="15.0652pt" id="M159" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>和任务<svg height="15.0652pt" id="M160" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>将被取消。在的情况<svg height="9.25202pt" id="M161" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>被损坏的,任务<svg height="11.1049pt" id="M162" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>和<svg height="11.1049pt" id="M163" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.34823 11.1049" width="9.34823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> </svg>会成功,没有任务冲突</span></span></span></p> <p>进一步,更复杂的情况是,不止一个损坏的问题发生。当<svg height="11.4899pt" id="M164" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>和<svg height="9.25202pt" id="M165" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>遇到损害问题在一定时间段,任务<span class="nowrap"> <svg height="15.0652pt" id="M166" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>,</span><span class="nowrap"> <svg height="15.0652pt" id="M167" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>,</span>和<svg height="15.0652pt" id="M168" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>会失败,但<svg height="15.0652pt" id="M169" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>会成功。同样,在其他情况下,只有两三个无人机在图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig3/" target="_blank">3</a>遇到一个损坏的问题,两个任务的成功。只有在<span class="nowrap"> <svg height="11.4899pt" id="M170" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span><span class="nowrap"> <svg height="9.25202pt" id="M171" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>,</span>和<svg height="9.25202pt" id="M172" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 10.0281 9.25202" width="10.0281pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-109"></use> </g> </svg>遇到损害同时在某一时间段,两个任务都失败。正如上面所讨论的,重叠模型可以有效地促进与一些额外的无人机的任务成功概率资源为代价。</p> <p>因此,英国石油(BP)重叠模型是有效破坏公差。</p> <h5 id="sec4.2">4.2。BB重叠模型</h5> <p>类似于BP模型,我们举个例子BB重叠模型图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig4/" target="_blank">4</a>。反斜杠矩形上下轴代表备份副本的任务<svg height="11.1049pt" id="M173" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>和<span class="nowrap"> <svg height="11.1049pt" id="M174" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.34823 11.1049" width="9.34823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> </svg>,</span>分别。和两个备份任务重叠<svg height="9.25202pt" id="M175" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>增加时间槽。</p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-2f20b71e48b5e36039861ad68b5d4824"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.004.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-2f20b71e48b5e36039861ad68b5d4824 partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.004_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-2f20b71e48b5e36039861ad68b5d4824 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图4</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig4/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> BB重叠的一个例子。</d我v> </div> </div> </div> <p>至于,最多一个损坏的问题发生,我们认为的破坏问题四个条件:<span class="list"><span class="list-item"><span class="list-label">(我)</span><span class="list-content">如果无人机<span class="nowrap"> <svg height="11.4899pt" id="M176" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span><span class="nowrap"> <svg height="9.25202pt" id="M177" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>,</span>和<svg height="9.25202pt" id="M178" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 10.0281 9.25202" width="10.0281pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-109"></use> </g> </svg>飞行安全、任务<svg height="15.0652pt" id="M179" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>和任务<svg height="15.0652pt" id="M180" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>将执行,他们的备份副本将被取消。此外,没有任务就会发生冲突</span></span><span class="list-item"><span class="list-label">(2)</span><span class="list-content">如果无人机<svg height="11.4899pt" id="M181" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>遇到一个损害问题在时间槽,任务<svg height="15.0652pt" id="M182" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>会失败,任务<svg height="15.0652pt" id="M183" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>和任务<svg height="15.0652pt" id="M184" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>将被执行。最后,任务<svg height="11.1049pt" id="M185" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>和<svg height="11.1049pt" id="M186" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.34823 11.1049" width="9.34823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> </svg>在的情况会成功吗<svg height="11.4899pt" id="M187" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>的破坏,没有冲突</span></span><span class="list-item"><span class="list-label">(3)</span><span class="list-content">如果无人机<svg height="9.25202pt" id="M188" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>遇到一个损坏的问题,任务<svg height="15.0652pt" id="M189" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>和任务<svg height="15.0652pt" id="M190" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>将被执行。最后,任务<svg height="11.1049pt" id="M191" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>和<svg height="11.1049pt" id="M192" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.34823 11.1049" width="9.34823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> </svg>将完成的情况<svg height="9.25202pt" id="M193" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>的被破坏,没有任务冲突</span></span><span class="list-item"><span class="list-label">(iv)</span><span class="list-content">如果无人机<svg height="9.25202pt" id="M194" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 10.0281 9.25202" width="10.0281pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-109"></use> </g> </svg>遇到一个损坏的问题,任务<svg height="15.0652pt" id="M195" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>和任务<svg height="15.0652pt" id="M196" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>将成功完成,任务<svg height="15.0652pt" id="M197" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>和将被取消。在的情况<svg height="9.25202pt" id="M198" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 10.0281 9.25202" width="10.0281pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-109"></use> </g> </svg>被损坏的,任务<svg height="11.1049pt" id="M199" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>和<svg height="11.1049pt" id="M200" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.34823 11.1049" width="9.34823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> </svg>会成功,没有任务冲突</span></span></span></p> <p>multidamage情况的复杂情况,分析类似于BP重叠的部分。</p> <p>因此,考虑无人机的备份副本可以重叠的利用率和BB重叠模型是有效对抗环境破坏问题。</p> <h5 id="sec4.3">4.3。重叠模型的基本性质</h5> <p>基于该模型,我们首先介绍一些基本性质表明,重叠机制应该满足一些约束。</p> <p><span class="statement" id="property1"><span class="statement-title"><i class="statement-title">属性1。</我></span>无人机执行主复制<svg height="15.0652pt" id="M201" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>必须不同于无人机相应的备份在哪里<svg height="15.0652pt" id="M202" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>分配。<span class="equation_break" id="eq1"><span class="left_break" id="L203"></span><span class="middle_break"><span class="center_break" id="M203"> <svg height="18.3157pt" id="M203-1" version="1.1" viewbox="0 0 131.364 18.3157" width="131.364pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B203-1"> <g transform="matrix(.013,0,0,-0.013,0,12.485)"> <path d="M563 650H502L416 416H157L71 650H10L256 -15H317L563 650ZM397 366L287 68H286L176 366H397Z" id="g117-46"></path> </g> <g transform="matrix(.013,0,0,-0.013,7.44,12.485)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.81,15.617)"> <use 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</svg></span></span><span class="right_break" id="R203"> <svg class="label" height="11.44pt" id="M203-2" version="1.1" viewbox="0 0 14.898 11.44" width="14.898pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B203-2"> <g transform="matrix(.013,0,0,-0.013,0,9.25)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.25)"> <path d="M130 550H367L393 615L386 623H101L63 323C82 331 123 342 165 342C275 342 328 277 328 188C328 107 283 40 201 40C141 40 99 72 78 91C69 99 59 98 51 91C39 81 30 67 29 58C28 48 33 37 46 24C60 10 104 -12 149 -12C203 -11 269 14 323 59C384 109 412 165 412 225C412 308 347 399 219 399C193 399 146 382 104 367L130 550Z" id="g190-161"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.4,9.25)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span></span></p> <p>财产<a href="#property1">1</a>表明,备份和初级副本不应将相同的无人机。这是因为当一个损害问题发生在无人机上,备份和主副本将被取消,导致任务的失败。也就是说,破坏公差不会在这种情况下工作。</p> <p><span class="statement" id="property2"><span class="statement-title"><i class="statement-title">属性2。</我></span>备份的准备开始时间<svg height="15.0652pt" id="M204" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>应该比终点时间晚吗<svg height="15.0652pt" id="M205" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>的完成时间<svg height="15.0652pt" id="M206" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 34.2449 15.0652" width="34.2449pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-86"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.454,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.952,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,18.32,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,23.53,-5.741)"> <use xlink:href="#g50-67"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.581,0)"> <use xlink:href="#g113-42"></use> </g> </svg>最后一次执行任务。<span class="equation_break" id="eq2"><span class="left_break" id="L207"></span><span class="middle_break"><span class="center_break" id="M207"> <svg height="18.4774pt" id="M207-1" version="1.1" viewbox="0 0 153.594 18.4774" width="153.594pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B207-1"> <g transform="matrix(.013,0,0,-0.013,0,12.296)"> <use xlink:href="#g117-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.45,12.296)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.81,15.428)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,20.64,12.296)"> <use xlink:href="#g117-173"></use> </g> <g transform="matrix(.013,0,0,-0.013,31.14,12.296)"> <use xlink:href="#g113-85"></use> </g> <g transform="matrix(.013,0,0,-0.013,38.64,12.296)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,43.78,12.296)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,48.49,12.296)"> <use xlink:href="#g190-113"></use> </g> <g 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349C373 414 374 448 351 448C321 448 249 404 183 338L197 313C223 336 265 367 276 367C285 367 283 355 275 313C241 129 220 23 189 -102C175 -158 153 -197 124 -197C106 -197 85 -187 70 -177C64 -173 51 -177 44 -183C34 -193 23 -209 23 -228C23 -244 46 -261 67 -261C86 -261 127 -245 181 -197C237 -147 279 -52 303 66L360 349Z" id="g113-107"></path> </g> <g transform="matrix(.013,0,0,-0.013,26.97,12.296)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="40.597pt" id="I207" version="1.1" viewbox="0 0 183.79 40.597" width="183.79pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 0)" xlink:href="#B207-1"></use> <use transform="matrix(1 0 0 1 153.81 24.34)" xlink:href="#B207-2"></use> </svg></span></span><span class="right_break" id="R207"> <svg class="label" height="11.44pt" id="M207-3" version="1.1" viewbox="0 0 15.428 11.44" width="15.428pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B207-3"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.49,9.26)"> <path d="M143 344C173 483 265 547 326 576C363 593 402 605 434 611L429 641C389 634 343 623 301 608C195 570 43 456 43 236C43 81 135 -12 245 -12C368 -12 453 88 453 208C453 310 380 393 273 393C253 393 232 386 211 376L143 344ZM234 338C325 338 367 255 367 172C367 102 346 21 264 21C184 21 132 113 132 239C132 267 133 291 138 312C164 327 197 338 234 338Z" id="g190-227"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.93,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="40.597pt" id="IL207" version="1.1" viewbox="0 0 15.49 40.597" width="15.49pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 14.37)" xlink:href="#B207-3"></use> </svg></span></span></span></p> <p>财产<a href="#property2">2</a>表明,相同的备份和初级副本任务就没有重叠在时间轴上。原因在于,不同的任务通常是在不同的位置;备份任务的开始强烈影响无人机的新来的任务响应时间(几乎可以预测何时会发生破坏;因此,没有无人机位置可用于分配),导致任务占用的情况下两次无人机资源,这并不符合我们的想法实现更高的无人机的效率。所以我们设置备份的开始时间晚于结束时间的主复制。另一个想法中描述的属性<a href="#property2">2</a>是备份的开始时间应晚于无人机的最后一次执行任务;因为资源不能进行两个不同的任务在同一时间。</p> <p><span class="statement" id="property3"><span class="statement-title"><i class="statement-title">财产3。</我></span>任务<svg height="11.1049pt" id="M208" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>可以分配给无人机呢<svg height="11.4899pt" id="M209" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>当且仅当<svg height="11.4899pt" id="M210" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>类型可以满足的能力<svg height="11.1049pt" id="M211" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>任务类型的需求。<span class="equation_break" id="EEq5"><span class="left_break" id="L212"></span><span class="middle_break"><span class="center_break" id="M212"> <svg height="37.9246pt" id="M212-1" version="1.1" viewbox="0 0 156.344 37.9246" width="156.344pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B212-1"> <g transform="matrix(.013,0,0,-0.013,0,22.29)"> <use xlink:href="#g119-175"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.29,11.774)"> <use xlink:href="#g117-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.74,11.774)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,21.11,14.906)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.93,11.774)"> <use xlink:href="#g117-173"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.43,11.774)"> <use xlink:href="#g113-85"></use> </g> <g transform="matrix(.013,0,0,-0.013,47.93,11.774)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,53.07,11.774)"> <use xlink:href="#g113-121"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,60.34,6.033)"> <use xlink:href="#g50-81"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,60.28,15.558)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,64.29,15.558)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,72.36,11.774)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,83.62,11.774)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,89.86,11.774)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,108.06,11.774)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,112.06,11.774)"> <use xlink:href="#g190-122"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,118.06,15.612)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,126.89,11.774)"> <use xlink:href="#g117-173"></use> </g> <g transform="matrix(.013,0,0,-0.013,137.39,11.774)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,142.84,11.774)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,146.85,14.906)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.013,0,0,-0.013,151.27,11.774)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.29,33.177)"> <use xlink:href="#g117-46"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.74,33.177)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,21.11,36.309)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.93,33.177)"> <use xlink:href="#g117-173"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.43,33.177)"> <use xlink:href="#g113-85"></use> </g> <g transform="matrix(.013,0,0,-0.013,47.93,33.177)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,53.07,33.177)"> <use xlink:href="#g113-121"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,60.34,27.436)"> <use xlink:href="#g50-67"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,60.28,36.961)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,64.95,36.961)"> <use xlink:href="#g50-108"></use> </g> <g transform="matrix(.013,0,0,-0.013,73.75,33.177)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,85.01,33.177)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,91.25,33.177)"> <use xlink:href="#g113-45"></use> </g> <g transform="matrix(.013,0,0,-0.013,109.44,33.177)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,113.45,33.177)"> <use xlink:href="#g190-122"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,119.45,37.015)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,128.28,33.177)"> <use xlink:href="#g117-173"></use> </g> <g transform="matrix(.013,0,0,-0.013,138.77,33.177)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,144.23,33.177)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,148.23,36.309)"> <use xlink:href="#g50-108"></use> </g> <g transform="matrix(.013,0,0,-0.013,153.38,33.177)"> <use xlink:href="#g113-47"></use> </g> </g> </svg> <svg class="alt_equation" height="37.9246pt" id="I212" version="1.1" viewbox="0 0 170.82 37.9246" width="170.82pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 0)" xlink:href="#B212-1"></use> </svg></span></span><span class="right_break" id="R212"> <svg class="label" height="11.44pt" id="M212-2" version="1.1" viewbox="0 0 15.028 11.44" width="15.028pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B212-2"> <g transform="matrix(.013,0,0,-0.013,0,9.26)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.26)"> <path d="M430 623H48C43 580 39 534 30 478H57C80 544 84 550 152 550H369C286 366 187 178 74 -1L81 -12L156 -2C249 201 343 408 438 611L430 623Z" id="g190-223"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.53,9.26)"> <use xlink:href="#g190-42"></use> </g> </g> </svg> <svg class="alt_label" height="37.9246pt" id="IL212" version="1.1" viewbox="0 0 15.08 37.9246" width="15.08pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <use transform="matrix(1 0 0 1 0 13.03)" xlink:href="#B212-2"></use> </svg></span></span></span></p> <p>方程(<a href="#EEq5">7</a>)表明,无人机的能力类型必须满足任务类型要求的所有任务分配给它。</p> <p><span class="statement" id="property4"><span class="statement-title"><i class="statement-title">性质4。</我></span>任务<svg height="11.1049pt" id="M213" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>的主副本可以当且仅当重叠与其他任务的任务<svg height="11.1049pt" id="M214" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>备份副本。</span></p> <p>在我们的工作中,不是所有的任务都有备份在考虑资源的效率。当<svg height="12.5794pt" id="M215" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 27.4103 12.5794" width="27.4103pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.706,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,8.704,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.202,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.57,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,22.763,0)"> <use xlink:href="#g113-42"></use> </g> </svg>= 0,这意味着没有备份吗<span class="nowrap"> <svg height="11.1049pt" id="M216" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.67706 11.1049" width="9.67706pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> </svg>,</span>和主副本必须执行完全在进行无人机。因此,<svg height="15.0652pt" id="M217" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>不能重叠与其他任务。</p> <p><span class="statement" id="property5"><span class="statement-title"><i class="statement-title">属性5。</我></span>如果主复制<svg height="15.0652pt" id="M218" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>与一个备份副本<svg height="15.0652pt" id="M219" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>在无人机<span class="nowrap"> <svg height="11.4899pt" id="M220" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span>然后开始准备时间<svg height="17.7741pt" id="M221" style="vertical-align:-5.999999pt" version="1.1" viewbox="-0.0498162 -11.7741 25.8205 17.7741" width="25.8205pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.789,0)"> <use xlink:href="#g190-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.626,3.603)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,15.23,3.603)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,19.669,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>必须早于<span class="nowrap"> <svg height="17.7741pt" id="M222" style="vertical-align:-5.999999pt" version="1.1" viewbox="-0.0498162 -11.7741 26.3595 17.7741" width="26.3595pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.789,0)"> <use xlink:href="#g190-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.626,3.603)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,15.638,3.603)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.08,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>。</span></span></p> <p>根据备份任务重叠机制,属于一种可能被处理的任务,它必须开始失败后其相应的首要任务。然而,主副本任务属于一种任务,不能暂停,除非损害发生。也就是说,一旦主副本任务已经开始,它将占据无人机,直到其完成时间。如果<svg height="17.7741pt" id="M223" style="vertical-align:-5.999999pt" version="1.1" viewbox="-0.0498162 -11.7741 25.8205 17.7741" width="25.8205pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.789,0)"> <use xlink:href="#g190-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.626,3.603)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,15.23,3.603)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,19.669,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>是晚于<span class="nowrap"> <svg height="17.7741pt" id="M224" style="vertical-align:-5.999999pt" version="1.1" viewbox="-0.0498162 -11.7741 26.3595 17.7741" width="26.3595pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.789,0)"> <use xlink:href="#g190-113"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,11.626,3.603)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,15.638,3.603)"> <use xlink:href="#g50-107"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.08,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>,</span>备份副本是没有意义的,因为任务<svg height="15.0652pt" id="M225" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>会占据<svg height="11.4899pt" id="M226" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>直到其完成不管<svg height="15.0652pt" id="M227" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>失败或没有。把图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig5/" target="_blank">5</a>作为一个例子说明。</p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-e698465750eaab33b62be08b66aeeea5"> <div 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class="caption-text">图5</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig5/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 开始准备时间重叠的任务之间的关系。</d我v> </div> </div> </div> <p>如果<svg height="9.25202pt" id="M228" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>遇到一个损坏的问题,任务<svg height="15.0652pt" id="M229" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>会失败和备份任务<svg height="15.0652pt" id="M230" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>需要被执行。然而,任务<svg height="15.0652pt" id="M231" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>已经占领了无人机<span class="nowrap"> <svg height="11.4899pt" id="M232" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>,</span>做任务<svg height="15.0652pt" id="M233" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>失败的开始。结果,任务计划不能容忍损害的问题。因此,开始准备时间<svg height="15.0652pt" id="M234" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>必须比早些时候吗<span class="nowrap"> <svg height="15.0652pt" id="M235" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>。</span></p> <p><span class="statement" id="property6"><span class="statement-title"><i class="statement-title">财产6。</我></span>如果<span class="inline_break"> <svg height="15.0652pt" id="M236" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 45.47 15.0652" width="45.47pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-86"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.454,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.952,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,18.32,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,23.53,-5.741)"> <use xlink:href="#g50-81"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.709,0)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,37.839,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span><span class="nowrap"> <svg height="15.0652pt" style="vertical-align:-3.2911pt" version="1.1" viewbox="49.052183799999995 -11.7741 34.01 15.0652" width="34.01pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,49.102,0)"> <use xlink:href="#g113-86"></use> </g> <g transform="matrix(.013,0,0,-0.013,58.556,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.054,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,67.422,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,72.303,-5.741)"> <use xlink:href="#g50-67"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.354,0)"> <use xlink:href="#g113-42"></use> </g> </svg>,</span></span>然后<svg height="15.0652pt" id="M237" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>不能重叠<span class="nowrap"> <svg height="15.0652pt" id="M238" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>。</span></span></p> <p>如图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig6/" target="_blank">6</a>,我们给反证法。假设无人机<svg height="11.4899pt" id="M239" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>承担的任务<svg height="15.0652pt" id="M240" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>和任务<svg height="15.0652pt" id="M241" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>和任务<svg height="15.0652pt" id="M242" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>与任务<svg height="15.0652pt" id="M243" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>在无人机<span class="nowrap"> <svg height="9.25202pt" id="M244" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 12.202 9.25202" width="12.202pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-108"></use> </g> </svg>。</span>考虑一个情况,<svg height="11.4899pt" id="M245" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>执行任务时遇到一个破坏性的问题<span class="nowrap"> <svg height="15.0652pt" id="M246" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>,</span>任务<svg height="15.0652pt" id="M247" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>会失败,任务<svg height="15.0652pt" id="M248" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>开始,主要任务<svg height="15.0652pt" id="M249" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>失败是因为重叠。此外,任务<svg height="15.0652pt" id="M250" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>也会由于失败<svg height="11.4899pt" id="M251" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>的损害。因此,任务<svg height="11.1049pt" id="M252" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.34823 11.1049" width="9.34823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> </svg>作业计划失败,不能处理的损伤问题<span class="nowrap"> <svg height="11.4899pt" id="M253" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>。</span></p> <p><span class="statement" id="property7"><span class="statement-title"><i class="statement-title">财产7。</我></span>如果<span class="inline_break"> <svg height="15.0652pt" id="M254" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 45.47 15.0652" width="45.47pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-86"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.454,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.952,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,18.32,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,23.53,-5.741)"> <use xlink:href="#g50-81"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.709,0)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,37.839,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span><span class="nowrap"> <svg height="15.0652pt" style="vertical-align:-3.2911pt" version="1.1" viewbox="49.052183799999995 -11.7741 34.138 15.0652" width="34.138pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,49.102,0)"> <use xlink:href="#g113-86"></use> </g> <g transform="matrix(.013,0,0,-0.013,58.556,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.054,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,67.422,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,72.303,-5.741)"> <use xlink:href="#g50-81"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.482,0)"> <use xlink:href="#g113-42"></use> </g> </svg>,</span></span>然后<svg height="15.0652pt" id="M255" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>不能重叠<span class="nowrap"> <svg height="15.0652pt" id="M256" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>。</span></span></p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-5afd9081cc20cb1b431cca97c75b8492"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.006.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-5afd9081cc20cb1b431cca97c75b8492 partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.006_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-5afd9081cc20cb1b431cca97c75b8492 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图6</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig6/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 插图示例属性<a href="#property6">6</a>。</d我v> </div> </div> </div> <p>也就是说,当主副本两个任务被分配到相同的无人机,然后他们的备份副本不能重叠。房地产可以见图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig7/" target="_blank">7</a>。</p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-4b9d2df1b31e4aea3031e78d88afe208"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.007.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-4b9d2df1b31e4aea3031e78d88afe208 partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.007_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-4b9d2df1b31e4aea3031e78d88afe208 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图7</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig7/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 插图示例属性<a href="#property7">7</a>。</d我v> </div> </div> </div> <p>如图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig7/" target="_blank">7</a>,<span class="inline_break"> <svg height="15.0652pt" id="M257" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 45.47 15.0652" width="45.47pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-86"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.454,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.952,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,18.32,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,23.53,-5.741)"> <use xlink:href="#g50-81"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.709,0)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,37.839,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span><span class="nowrap"> <svg height="15.0652pt" style="vertical-align:-3.2911pt" version="1.1" viewbox="49.052183799999995 -11.7741 34.138 15.0652" width="34.138pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,49.102,0)"> <use xlink:href="#g113-86"></use> </g> <g transform="matrix(.013,0,0,-0.013,58.556,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.054,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,67.422,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,72.303,-5.741)"> <use xlink:href="#g50-81"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.482,0)"> <use xlink:href="#g113-42"></use> </g> </svg>,</span></span>和<svg height="15.0652pt" id="M258" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>与<span class="nowrap"> <svg height="15.0652pt" id="M259" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>。</span>当无人机<svg height="11.4899pt" id="M260" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>受损,<svg height="15.0652pt" id="M261" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>和<svg height="15.0652pt" id="M262" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>会失败,导致这两个条件<svg height="15.0652pt" id="M263" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>和<svg height="15.0652pt" id="M264" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>需要被执行。然而,<svg height="15.0652pt" id="M265" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>和<svg height="15.0652pt" id="M266" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>重叠在同一个无人机;一次发生冲突。因此,<svg height="15.0652pt" id="M267" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.7287 15.0652" width="15.7287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>不能重叠<svg height="15.0652pt" id="M268" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.3999 15.0652" width="15.3999pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>在这种情况下,<span class="inline_break"> <svg height="15.0652pt" id="M269" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 45.47 15.0652" width="45.47pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-86"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.454,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,13.952,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,18.32,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,23.53,-5.741)"> <use xlink:href="#g50-81"></use> </g> <g transform="matrix(.013,0,0,-0.013,29.709,0)"> <use xlink:href="#g113-42"></use> </g> <g transform="matrix(.013,0,0,-0.013,37.839,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span><span class="nowrap"> <svg height="15.0652pt" style="vertical-align:-3.2911pt" version="1.1" viewbox="49.052183799999995 -11.7741 34.138 15.0652" width="34.138pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,49.102,0)"> <use xlink:href="#g113-86"></use> </g> <g transform="matrix(.013,0,0,-0.013,58.556,0)"> <use xlink:href="#g113-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.054,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,67.422,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,72.303,-5.741)"> <use xlink:href="#g50-81"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.482,0)"> <use xlink:href="#g113-42"></use> </g> </svg>。</span></span></p> <p>应该注意的是,每个七属性不得违反任何时候;否则,重叠机制可能无法有效应对破坏性问题,从而影响了成功执行的任务。</p> <h4 id="damage-tolerant-task-assigning-algorithm">5。增加任务分配算法</h4> <p>基于备份机制和重叠模型,提出了一种新颖的增加任务分配algorithm-DTTA-for非周期和独立任务无人机在对抗的环境中。特别是DTTA明智地考虑调度目标只要破坏公差。在本节中,主复制和备份分配算法。</p> <h5 id="sec5.1">5.1。主副本分配算法</h5> <p>很容易被人知道,主副本需要尽早完成为了无人机利用率,如果它有备份,留下足够的时间的备份副本。除此之外,主要的副本应该是分成几个无人机根据财产<a href="#property7">7</a>,这将使重叠机制更为可行。因此,主副本任务应该努力两个目标:<span class="list"><span class="list-item"><span class="list-label">(我)</span><span class="list-content">最早的完成时间</span></span><span class="list-item"><span class="list-label">(2)</span><span class="list-content">甚至加载多个无人机</span></span></span></p> <p>此外,该分配方法应说明。如图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig8/" target="_blank">8</a>对每个主复制,它可以分配在两种模式。像任务<span class="nowrap"> <svg height="15.0652pt" id="M270" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.8566 15.0652" width="15.8566pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.577,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>,</span>主复制可以分配给一个无人机,没有重叠。此外,主副本可以分配给无人机和重叠与另一个备份<span class="nowrap"> <svg height="15.0652pt" id="M271" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 15.5278 15.0652" width="15.5278pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.249,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>,</span>如果<svg height="11.1049pt" id="M272" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.34823 11.1049" width="9.34823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-99"></use> </g> </svg>有一个备份。重叠的方式可以促进利用无人机,并留下更多的资源对于后者的任务,优先使用第二种方式。</p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-4db36c02b2c32180b33c8f13e9a17d6e"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.008.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-4db36c02b2c32180b33c8f13e9a17d6e partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.008_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-4db36c02b2c32180b33c8f13e9a17d6e partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图8</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig8/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 主副本分配模式。</d我v> </div> </div> </div> <p>在算法<a href="//www.newsama.com/journals/ijae/2020/8878136/alg1/" target="_blank">1</a>,我们现在主要的分配算法在DTTA副本。算法<a href="//www.newsama.com/journals/ijae/2020/8878136/alg1/" target="_blank">1</a>首先考虑任务之间的距离和无人机,选择最近的<svg height="8.85534pt" id="M273" style="vertical-align:-0.4673595pt" version="1.1" viewbox="-0.0498162 -8.38798 17.3762 8.85534" width="17.3762pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M545 106L524 126C493 85 467 65 455 65C438 65 427 113 405 238C448 295 498 362 543 439L533 448L478 435C453 386 423 331 398 295H395C370 404 347 448 282 448C169 448 23 309 23 153C23 54 65 -12 128 -12C203 -12 283 70 339 155H341C360 29 380 -12 411 -12C444 -12 491 11 545 106ZM333 204C265 95 210 54 169 54C137 54 113 96 113 171C113 302 191 405 252 405C301 405 318 306 333 204Z" id="g113-223"></path> </g> <g transform="matrix(.013,0,0,-0.013,7.385,0)"> <path d="M594 629L561 652L159 -9L190 -32L594 629ZM194 635C92 635 49 534 49 453C49 374 92 272 193 272C295 272 338 374 338 454S295 635 194 635ZM193 605C257 605 265 504 265 453C265 405 257 302 194 302C133 302 122 403 122 454S133 605 193 605ZM567 351C465 351 421 250 421 169C421 90 465 -12 566 -12S710 90 710 170S667 351 567 351ZM566 322C628 322 637 221 637 169C637 121 628 18 567 18S494 119 494 170C494 223 506 322 566 322Z" id="g121-35"></path> </g> </svg>转让(见1 - 6行)。对于每一个无人机在候选集,算法<a href="//www.newsama.com/journals/ijae/2020/8878136/alg1/" target="_blank">1</a>将计算任务的最早完成时间的重叠模式的前提<svg height="15.0652pt" id="M274" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 36.8507 15.0652" width="36.8507pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.043,0)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.711,0)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.43,0)"> <path d="M513 0V26C475 28 448 43 413 81C379 116 277 234 258 264C301 314 319 334 344 359C383 396 404 407 473 418V443L269 434V408C317 403 320 395 299 364C280 337 250 298 228 276C213 260 195 247 165 241V712C126 699 69 682 21 677V653C82 648 87 642 87 576V104C87 40 81 32 14 26V0H237V26C173 32 165 38 165 104V215C171 217 176 218 181 218C189 218 198 212 212 196C267 129 330 49 376 -2L513 0Z" id="g190-108"></path> </g> <g transform="matrix(.013,0,0,-0.013,23.132,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,27.5,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,30.572,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>无人机可以重叠<svg height="11.4899pt" id="M275" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>最后一个任务。重叠的资格environment-threatened价值决定的事实<svg height="10.8766pt" id="M276" style="vertical-align:-3.29112pt" version="1.1" viewbox="-0.0498162 -7.58548 12.6809 10.8766" width="12.6809pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>大于阈值,然后呢<svg height="11.4899pt" id="M277" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 11.4804 11.4899" width="11.4804pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"> <use xlink:href="#g50-107"></use> </g> </svg>的最后一个任务是一个备份,备份不重叠的条件(见行地位)。为了获得无人机的负载平衡,最早完成时间在一个不重叠的方式将计算比较,最后算法获得较早的完成时间(见16行)。在第22行,如果算法找到了一个合适的无人机<svg height="6.1673pt" id="M278" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 7.11985 6.1673" width="7.11985pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-118"></use> </g> </svg>和相应的备份<svg height="15.0652pt" id="M279" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.5913 15.0652" width="13.5913pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>可以安排的基础上吗<svg height="15.0652pt" id="M280" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.7192 15.0652" width="13.7192pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>最早的完成时间,会发生重叠的分配模式。它将<我>AllocateTag</我>是真的,任务及其备份将被分配,和算法<a href="//www.newsama.com/journals/ijae/2020/8878136/alg1/" target="_blank">1</a>终止的另一个任务(参见汽车行)。如果重叠作业的尝试失败,它不重叠的模式(参见28行)。如果不重叠的任务尝试成功,任务<svg height="15.0652pt" id="M281" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.7192 15.0652" width="13.7192pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>将安排在不重叠的模式(见29 - 30行),和备份的副本吗<svg height="15.0652pt" id="M282" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.7192 15.0652" width="13.7192pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>将被分配根据是否需要(见行33节);然后算法<a href="//www.newsama.com/journals/ijae/2020/8878136/alg1/" target="_blank">1</a>终止的另一个任务(见第34行)。如果任务失败被分配在两个重叠的模式和不重叠的模式,候选人无人机将会成为下一个更新<svg height="8.85534pt" id="M283" style="vertical-align:-0.4673595pt" version="1.1" viewbox="-0.0498162 -8.38798 17.3762 8.85534" width="17.3762pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-223"></use> </g> <g transform="matrix(.013,0,0,-0.013,7.385,0)"> <use xlink:href="#g121-35"></use> </g> </svg>最近的无人机(见35行),将开始新一轮分配尝试。如果任务失败后被分配所有的无人机<svg height="8.8423pt" id="M284" style="vertical-align:-0.2064009pt" version="1.1" viewbox="-0.0498162 -8.6359 17.2457 8.8423" width="17.2457pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-86"></use> </g> <g transform="matrix(.013,0,0,-0.013,9.454,0)"> <use xlink:href="#g113-43"></use> </g> </svg>已经扫描,任务是被拒绝(见36 - 37行),和算法<a href="//www.newsama.com/journals/ijae/2020/8878136/alg1/" target="_blank">1</a>另一个任务终止。值得注意的是,一个任务可以被指定在一个重叠的方式只有当其备份可以被分配(见第22行)。原因是一个任务必须有一个备份的时候与其他任务。在不重叠的分配模式,任务会分配其备份如果需要,和备份指定的失败不会导致主要任务的失败。</p> <div class="floats-partial-section"> <div class="floats-partial-content"> <table class="algorithm-group"> <tbody> <tr> <td> <table class="algorithm" id="alg1"> <tbody> <tr> <td colspan="2">1把<我>p<sub>我</sub></i>到达任务<我>t<sub>我</sub><sup>P</sup></i>;</td> </tr> <tr> <td colspan="2">2让<svg height="10.335pt" id="M285" style="vertical-align:-0.2325001pt" version="1.1" viewbox="-0.0498162 -10.1025 71.4832 10.335" width="71.4832pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.454,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> <g transform="matrix(.013,0,0,-0.013,19.165,0)"> <path d="M885 230V280H158L260 427L238 442C164 361 93 290 53 255C93 220 164 149 238 68L260 83L158 230H885Z"></path> </g> <g transform="matrix(.013,0,0,-0.013,29.075,0)"> <path d="M567 230V280H69V230H567Z"></path> </g>  <g transform="matrix(.013,0,0,-0.013,41.052,0)"> <path d="M716 650H478V622C549 617 570 605 575 566C579 535 582 493 582 401V326C582 161 537 40 393 40C269 40 205 133 205 294V521C205 611 213 617 291 622V650H33V622C111 615 120 611 120 521V272C120 154 148 80 208 34C252 0 309 -14 368 -14C434 -14 501 7 548 55C605 116 623 201 623 319V401C623 493 626 536 629 563C633 605 656 618 716 622V650Z"></path> </g> <g transform="matrix(.013,0,0,-0.013,49.602,0)"> <path d="M673 0V28C608 34 594 43 563 129C499 303 432 494 370 665L339 656L132 132C98 43 84 37 20 28V0H238V28C162 35 154 45 175 108C188 150 203 192 219 237H432C454 176 474 122 487 83S491 36 428 28V0H673ZM418 280H234C265 362 296 450 328 535H330L418 280Z"></path> </g> <g transform="matrix(.013,0,0,-0.013,57.32,0)"> <path d="M687 650H462V622C543 612 549 605 530 547C498 447 422 252 372 126H370C302 298 229 492 204 563C188 607 191 615 262 622V650H17V622C77 616 93 608 122 534C180 389 262 172 329 -11H360C436 196 541 450 568 516C606 605 619 614 687 622V650Z"></path> </g> <g transform="matrix(.013,0,0,-0.013,66.459,0)"> <path d="M319 325C317 349 306 409 297 431C277 440 250 449 209 449C117 449 57 389 57 319C57 243 122 209 182 182C232 159 261 135 261 91C261 48 227 21 190 21C130 21 85 79 68 145L41 140C41 104 51 36 58 22C75 7 121 -12 172 -12C252 -12 337 35 337 126C337 195 286 231 210 262C166 281 126 304 126 348C126 388 152 417 191 417C240 417 274 378 294 318L319 325Z"></path> </g> </svg>在<我>U</我>满足任务<我>t<sub>我</sub>”</我>要求;</td> </tr> <tr> <td colspan="2">3<b>foreach</b><i>u<sub>j</sub></i>在<svg height="10.3089pt" id="M286" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -10.1025 15.6651 10.3089" width="15.6651pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.454,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> </svg><b>做的。</b></td> </tr> <tr> <td colspan="2">4计算距离<我>d<sub>ij</sub></i>任务之间<我>t<sub>我</sub></i>和无人机<我>u<sub>j</sub></i>;</td> </tr> <tr> <td colspan="2">5类<svg height="10.3089pt" id="M287" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -10.1025 15.6651 10.3089" width="15.6651pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.454,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> </svg>在一个订单增加的价值<我>d<sub>ij</sub></i>;</td> </tr> <tr> <td colspan="2">6<我>U<sub>候选人</sub></i>⟵最高<我>α</我>%的无人机<span class="nowrap"> <svg height="10.3089pt" id="M288" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -10.1025 15.6651 10.3089" width="15.6651pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.454,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> </svg>;</span></td> </tr> <tr> <td colspan="2">7<我>AllocateTag</我>⟵<我>假</我>;英国《金融时报》⟵+∞;<我>u</我>⟵<我>零</我>;</td> </tr> <tr> <td colspan="2">8<b>而</b><i>u !<sub>j</sub>∈U</我> <svg height="10.1524pt" id="M289" style="vertical-align:-0.04990005pt" version="1.1" viewbox="-0.0498162 -10.1025 6.17869 10.1524" width="6.17869pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.0091,0,0,-0.0091,0,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> </svg><i>已经扫描</我><b>做的。</b></td> </tr> <tr> <td colspan="2">9<我>OverlapTag</我>⟵<我>真正的</我>;</td> </tr> <tr> <td colspan="2">10<b>foreach</b><i>u<sub>j</sub></i>在<我>U<sub>候选人</sub></i><b>做的。</b></td> </tr> <tr> <td colspan="2">11<b>如果</b><i>u<sub>j</sub></i>分配的任务可以重叠<b>然后。</b></td> </tr> <tr> <td colspan="2">12个计算<我>EFT<sub>j</sub>(t<sub>我</sub><sup>P</sup>)</我>在重叠模式;</td> </tr> <tr> <td colspan="2">13<b>如果</b><i>EFT<sub>j</sub>(t<sub>我</sub><sup>P</sup>)</我><<我>英国《金融时报》& EFT<sub>j</sub>(t<sub>我</sub><sup>P</sup>)</我><<我>道明<sub>我</sub></i><b>然后。</b></td> </tr> <tr> <td colspan="2">14英尺⟵<我>EFT<sub>j</sub>(t<sub>我</sub><sup>P</sup>)</我>;</td> </tr> <tr> <td colspan="2">15<我>u</我>⟵<我>u<sub>j</sub></i>;</td> </tr> <tr> <td colspan="2">16<b>foreach</b><i>u<sub>j</sub></i>在<我>U<sub>候选人</sub></i><b>做的。</b></td> </tr> <tr> <td colspan="2">17日计算<我>EFT<sub>j</sub>(t<sub>我</sub><sup>P</sup>)</我>在非重叠模式;</td> </tr> <tr> <td colspan="2">18<b>如果</b><i>EFT<sub>j</sub>(t<sub>我</sub><sup>P</sup>)</我><<我>英国《金融时报》& EFT<sub>j</sub>(t<sub>我</sub><sup>P</sup>)</我><<我>道明<sub>我</sub></i><b>然后。</b></td> </tr> <tr> <td colspan="2">19 OverlapTag⟵假;</td> </tr> <tr> <td colspan="2">20英尺⟵<我>EFT<sub>j</sub>(t<sub>我</sub><sup>P</sup>)</我>;</td> </tr> <tr> <td colspan="2">21<我>u</我>⟵<我>u<sub>j</sub></i>;</td> </tr> <tr> <td colspan="2">22<b>如果</b><i>u</我>不是零<我>& t<sub>我</sub><sup>B</sup></i>可以安排&<我>OverlapTag</我>=<我>真正的</我><b>然后。</b></td> </tr> <tr> <td colspan="2">23<我>AllocateTag</我>⟵<我>真正的</我>;</td> </tr> <tr> <td colspan="2">24分配<我>t<sub>我</sub><sup>P</sup></i>在无人机<我>u</我>在重叠模式;</td> </tr> <tr> <td colspan="2">25生成备份<我>t<sub>我</sub><sup>B</sup></i>根据英国《金融时报》;</td> </tr> <tr> <td colspan="2">26日日程安排<我>t<sub>我</sub><sup>B</sup></i>;</td> </tr> <tr> <td colspan="2">27日休息;</td> </tr> <tr> <td colspan="2">28<b>如果</b><i>u</我>不是零<b>然后。</b></td> </tr> <tr> <td colspan="2">29日分配<我>t<sub>我</sub><sup>P</sup></i>在无人机<我>u</我>在非重叠模式;</td> </tr> <tr> <td colspan="2">30<我>AllocateTag</我>⟵<我>真正的</我>;</td> </tr> <tr> <td colspan="2">31日<b>如果</b><i>e<sub>“透明国际”</sub></i>><我>等<sub>阈值</sub></i><b>然后。</b></td> </tr> <tr> <td colspan="2">32生成<我>t<sub>我</sub><sup>B</sup></i>根据英国《金融时报》;</td> </tr> <tr> <td colspan="2">33个时间表<我>t<sub>我</sub><sup>B</sup></i>;</td> </tr> <tr> <td colspan="2">34打破;</td> </tr> <tr> <td colspan="2">35<我>U<sub>候选人</sub></i>⟵未来顶级<我>α</我>%的无人机<span class="nowrap"> <svg height="10.3089pt" id="M290" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -10.1025 15.6651 10.3089" width="15.6651pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.454,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> </svg>;</span></td> </tr> <tr> <td colspan="2">36<b>如果</b><i>allocateTag</我>⟵<我>假</我><b>然后。</b></td> </tr> <tr> <td colspan="2">37拒绝<我>t<sub>我</sub><sup>P</sup></i>;</td> </tr> </tbody> </table></td> </tr> </tbody> </table> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">算法1</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/alg1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 主要分配在DTTA副本。</d我v> </div> </div> <h5 id="sec5.2">5.2。备份副本分配算法</h5> <p>备份副本,分配偏好是不同的。作为增加机制说明之前,提前完成任务的时间<svg height="15.0652pt" id="M291" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.7192 15.0652" width="13.7192pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>将推动相应的备份的成功概率<span class="nowrap"> <svg height="15.0652pt" id="M292" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.5913 15.0652" width="13.5913pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>,</span>但是备份没有这样的偏好。因此,备份的分配主要考虑无人机之间的距离和负载平衡,而不是最早完成时间。</p> <p>类似于图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig8/" target="_blank">8</a>备份副本的分配也有两种模式,即重叠模式和非重叠模式。算法和算法<a href="//www.newsama.com/journals/ijae/2020/8878136/alg2/" target="_blank">2</a>。</p> <p>从代码中,我们可以看到,行1 - 6相同的算法<a href="//www.newsama.com/journals/ijae/2020/8878136/alg1/" target="_blank">1</a>,解释是相似的。8号线是确保所有无人机将被扫描任务之前被拒绝。在第9行,我们对候选人进行排序的无人机完成任务;原因是分配给无人机的任务应该尽可能甚至更高的无人机的利用率。机线意味着将在重叠模式首先被分配的任务。与其他任务,如果任务失败重叠不重叠的模式是用于分配(见年龄在18岁至25岁之间的行)。26 - 27日行意味着如果分配已经成功了,它将扫描循环结束。28行用于更新候选人无人机上设置条件,现有候选人无人机不能满足任务的需求<span class="nowrap"> <svg height="15.0652pt" id="M293" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.5913 15.0652" width="13.5913pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>。</span>当所有无人机已经扫描,任务没有分配,<svg height="15.0652pt" id="M294" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.5913 15.0652" width="13.5913pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-67"></use> </g> </svg>将被拒绝。</p> <p>值得注意的是,第22行算法<a href="//www.newsama.com/journals/ijae/2020/8878136/alg1/" target="_blank">1</a>将确保备份成功分配。的备份<svg height="15.0652pt" id="M295" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.7741 13.7192 15.0652" width="13.7192pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,7.44,-5.741)"> <use xlink:href="#g50-81"></use> </g> </svg>在第32行)的算法<a href="//www.newsama.com/journals/ijae/2020/8878136/alg1/" target="_blank">1</a>可能会被拒绝在某些情况下,由无人机的状态决定。这个设置的原因是,重叠作业的备份是一个先决条件,但备份副本只是一个最优的目标,而不是先决条件的不重叠的模式。</p> <div class="floats-partial-section"> <div class="floats-partial-content"> <table class="algorithm-group"> <tbody> <tr> <td> <table class="algorithm" id="alg2"> <tbody> <tr> <td colspan="2">1把<我>p<sub>我</sub></i>到达任务<我>t<sub>我</sub><sup>B</sup></i>;</td> </tr> <tr> <td colspan="2">2让<svg height="10.335pt" id="M296" style="vertical-align:-0.2325001pt" version="1.1" viewbox="-0.0498162 -10.1025 71.4832 10.335" width="71.4832pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.454,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> <g transform="matrix(.013,0,0,-0.013,19.165,0)"> <path d="M885 230V280H158L260 427L238 442C164 361 93 290 53 255C93 220 164 149 238 68L260 83L158 230H885Z"></path> </g> <g transform="matrix(.013,0,0,-0.013,29.075,0)"> <path d="M567 230V280H69V230H567Z"></path> </g>  <g transform="matrix(.013,0,0,-0.013,41.052,0)"> <path d="M716 650H478V622C549 617 570 605 575 566C579 535 582 493 582 401V326C582 161 537 40 393 40C269 40 205 133 205 294V521C205 611 213 617 291 622V650H33V622C111 615 120 611 120 521V272C120 154 148 80 208 34C252 0 309 -14 368 -14C434 -14 501 7 548 55C605 116 623 201 623 319V401C623 493 626 536 629 563C633 605 656 618 716 622V650Z"></path> </g> <g transform="matrix(.013,0,0,-0.013,49.602,0)"> <path d="M673 0V28C608 34 594 43 563 129C499 303 432 494 370 665L339 656L132 132C98 43 84 37 20 28V0H238V28C162 35 154 45 175 108C188 150 203 192 219 237H432C454 176 474 122 487 83S491 36 428 28V0H673ZM418 280H234C265 362 296 450 328 535H330L418 280Z"></path> </g> <g transform="matrix(.013,0,0,-0.013,57.32,0)"> <path d="M687 650H462V622C543 612 549 605 530 547C498 447 422 252 372 126H370C302 298 229 492 204 563C188 607 191 615 262 622V650H17V622C77 616 93 608 122 534C180 389 262 172 329 -11H360C436 196 541 450 568 516C606 605 619 614 687 622V650Z"></path> </g> <g transform="matrix(.013,0,0,-0.013,66.459,0)"> <path d="M319 325C317 349 306 409 297 431C277 440 250 449 209 449C117 449 57 389 57 319C57 243 122 209 182 182C232 159 261 135 261 91C261 48 227 21 190 21C130 21 85 79 68 145L41 140C41 104 51 36 58 22C75 7 121 -12 172 -12C252 -12 337 35 337 126C337 195 286 231 210 262C166 281 126 304 126 348C126 388 152 417 191 417C240 417 274 378 294 318L319 325Z"></path> </g> </svg>在<我>U</我>满足任务<我>t<sub>我</sub>”</我>要求;</td> </tr> <tr> <td colspan="2">3<b>foreach</b><i>u<sub>j</sub></i>在<svg height="10.3089pt" id="M297" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -10.1025 15.6651 10.3089" width="15.6651pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.454,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> </svg><b>做的。</b></td> </tr> <tr> <td colspan="2">4计算距离<我>d<sub>ij</sub></i>任务之间<我>t<sub>我</sub></i>和无人机<我>u<sub>j</sub></i>;</td> </tr> <tr> <td colspan="2">5类<svg height="10.3089pt" id="M298" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -10.1025 15.6651 10.3089" width="15.6651pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.454,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> </svg>在一个订单增加的价值<我>d<sub>ij</sub></i>;</td> </tr> <tr> <td colspan="2">6<我>U<sub>候选人</sub></i>⟵最高<我>α</我>%的无人机<span class="nowrap"> <svg height="10.3089pt" id="M299" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -10.1025 15.6651 10.3089" width="15.6651pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.454,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> </svg>;</span></td> </tr> <tr> <td colspan="2">7<我>AllocateTag</我>⟵<我>假</我>;</td> </tr> <tr> <td colspan="2">8<b>而</b><i>u !<sub>j</sub>∈U</我> <svg height="10.1524pt" id="M300" style="vertical-align:-0.04990005pt" version="1.1" viewbox="-0.0498162 -10.1025 6.17869 10.1524" width="6.17869pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.0091,0,0,-0.0091,0,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> </svg><i>已经扫描</我><b>做的。</b></td> </tr> <tr> <td colspan="2">9类<我>U<sub>候选人</sub></i>任务数的升序排序;</td> </tr> <tr> <td colspan="2">10<b>foreach</b><i>u<sub>j</sub></i>在<我>U<sub>候选人</sub></i><b>做的。</b></td> </tr> <tr> <td colspan="2">11<b>如果</b><i>t<sub>我</sub><sup>B</sup></i>可以重叠<我>u<sub>j</sub></i>“最后一个任务<b>然后。</b></td> </tr> <tr> <td colspan="2">12个计算<我>EFT<sub>j</sub>(t<sub>我</sub><sup>B</sup>)</我>在重叠模式;</td> </tr> <tr> <td colspan="2">13<b>如果</b><i>EFT<sub>j</sub>(t<sub>我</sub><sup>B</sup>)</我><<我>道明<sub>我</sub></i><b>然后。</b></td> </tr> <tr> <td colspan="2">14<我>AllocateTag</我>⟵<我>真正的</我>;</td> </tr> <tr> <td colspan="2">15分配<我>t<sub>我</sub><sup>B</sup></i>在无人机<我>u<sub>j</sub></i>在重叠模式;</td> </tr> <tr> <td colspan="2">16<我>圣(t<sub>我</sub>)</我>⟵1;</td> </tr> <tr> <td colspan="2">17日休息;</td> </tr> <tr> <td colspan="2">18<b>如果</b><i>AllocateTag = FALSE</我>;</td> </tr> <tr> <td colspan="2">19<b>foreach</b><i>u<sub>j</sub></i>在<我>U<sub>候选人</sub></i><b>做的。</b></td> </tr> <tr> <td colspan="2">20日计算<我>EFT<sub>j</sub>(t<sub>我</sub><sup>B</sup>)</我>在非重叠模式;</td> </tr> <tr> <td colspan="2">21<b>如果</b><i>EFT<sub>j</sub>(t<sub>我</sub><sup>B</sup>)</我><<我>道明<sub>我</sub></i><b>然后。</b></td> </tr> <tr> <td colspan="2">22<我>AllocateTag</我>⟵<我>真正的</我>;</td> </tr> <tr> <td colspan="2">23日分配<我>t<sub>我</sub><sup>B</sup></i>在无人机<我>u<sub>j</sub></i>在非重叠模式;</td> </tr> <tr> <td colspan="2">24<我>圣(t<sub>我</sub>)</我>⟵1;</td> </tr> <tr> <td colspan="2">25日休息;</td> </tr> <tr> <td colspan="2">26<b>如果</b><i>AllocateTag = TRUE</我>;</td> </tr> <tr> <td colspan="2">27日休息;</td> </tr> <tr> <td colspan="2">28<我>U<sub>候选人</sub></i>⟵未来顶级<我>α</我>%的无人机<span class="nowrap"> <svg height="10.3089pt" id="M301" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -10.1025 15.6651 10.3089" width="15.6651pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,9.454,-5.741)"> <path d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"></path> </g> </svg>;</span></td> </tr> <tr> <td colspan="2">29日<b>如果</b><i>allocateTag</我>⟵<我>假</我><b>然后。</b></td> </tr> <tr> <td colspan="2">30拒绝<我>t<sub>我</sub><sup>B</sup></i>;</td> </tr> </tbody> </table></td> </tr> </tbody> </table> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">算法2</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/alg2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 在DTTA备份副本分配。</d我v> </div> </div> <h4 id="performance-evaluation">6。绩效评估</h4> <p>在本节中,我们进行仿真实验来验证该algorithm-DTTA的有效性。我们比较了三种基线算法:Non-BPoverlapping DTTA (NBPDTTA) Non-BBoverlapping DTTA (NBBDTTA),和没有备份的,没有重叠(NBNOTA)任务分配算法。</p> <p>NBBDTTA被移除BP算法来源于DTTA重叠机制和NBBDTTA DTTA的变种通过移除BB重叠机制。区别NBNOA DTTA是没有备份和DTTA重叠机制。</p> <p>我们的性能指标,评估算法的有效性,包括:<span class="list"><span class="list-item"><span class="list-label">(我)</span><span class="list-content">TGR(任务保障比率)是定义任务,成功的比例在所有到达任务。TGR用于评估目标方程(<a href="#EEq3">3</a>)</span></span><span class="list-item"><span class="list-label">(2)</span><span class="list-content">ETR(执行时间比)定义的任务执行时间的百分比在无人机的飞行时间。ETR用于评估目标方程(<a href="#EEq4">4</a>)</span></span><span class="list-item"><span class="list-label">(3)</span><span class="list-content">博士(危害比)是定义为受损的比例在所有无人机无人机</span></span></span></p> <h5 id="sec6.1">6.1。仿真设置</h5> <p>为了保证实验的可重复性,我们选择仿真来验证提出的算法的有效性。给出了详细的设置和参数如下:<span class="list"><span class="list-item"><span class="list-label">(我)</span><span class="list-content">最初的无人机的数量将是300</span></span><span class="list-item"><span class="list-label">(2)</span><span class="list-content">任务区域是长方形的<span class="inline_break"> <svg height="8.55521pt" id="M302" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -8.34882 48.359 8.55521" width="48.359pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M285 378C315 398 338 416 353 432C373 451 384 474 384 503C384 579 325 635 236 635H235C182 635 136 610 108 579L65 516L85 496C110 533 150 575 205 575C258 575 300 543 300 481C300 407 232 369 141 339L147 310C163 315 188 321 211 321C268 321 338 284 338 192C338 94 288 40 217 40C160 40 119 68 93 91C85 98 77 97 69 91C60 84 47 71 46 58C44 46 48 35 62 22C75 10 116 -12 162 -12C234 -12 424 62 424 224C424 297 373 359 285 376V378Z" id="g113-52"></path> </g> <g transform="matrix(.013,0,0,-0.013,6.24,0)"> <path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z" id="g113-49"></path> </g> <g transform="matrix(.013,0,0,-0.013,12.48,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,18.72,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,27.136,0)"> <use xlink:href="#g190-110"></use> </g> <g transform="matrix(.013,0,0,-0.013,40.728,0)"> <use xlink:href="#g113-43"></use> </g> </svg><span class="ibiop"></span><span class="nowrap"> <svg height="8.55521pt" style="vertical-align:-0.2063904pt" version="1.1" viewbox="51.2141838 -8.34882 38.138 8.55521" width="38.138pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,51.264,0)"> <path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z" id="g113-51"></path> </g> <g transform="matrix(.013,0,0,-0.013,57.504,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,63.744,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,69.984,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.4,0)"> <use xlink:href="#g190-110"></use> </g> </svg>。</span></span>无人机起飞基地的位置(0,0),和生存无人机必须回到基地</span></span><span class="list-item"><span class="list-label">(3)</span><span class="list-content">每个无人机有一个或两种能力,选择从集{<我>侦察能力</我>,<我>惊人的能力</我>,<我>损伤评估的能力</我>}。最初的惊人的资源设置为5,这意味着一个无人机可以承担主要5惊人的任务</span></span><span class="list-item"><span class="list-label">(iv)</span><span class="list-content">无人机将的最大速度<span class="inline_break"> <svg height="11.439pt" id="M303" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 30.698 11.439" width="30.698pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M249 635C141 635 70 555 70 471C70 401 114 353 179 316C143 294 106 267 90 252C68 231 45 202 45 157C45 50 130 -12 237 -12C322 -12 435 52 435 169C435 256 372 304 303 343C349 374 375 398 383 407C401 429 411 458 411 487C411 569 344 635 249 635ZM238 603C285 603 337 567 337 482C337 422 310 385 276 358C205 393 145 426 145 500C145 552 179 603 238 603ZM248 20C183 20 125 70 125 163C125 218 158 268 206 300C284 261 355 217 355 143C355 66 308 20 248 20Z" id="g113-57"></path> </g> <g transform="matrix(.013,0,0,-0.013,6.24,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,14.655,0)"> <use xlink:href="#g190-110"></use> </g> <g transform="matrix(.013,0,0,-0.013,25.342,0)"> <path d="M368 703H309L44 -163H104L368 703Z" id="g113-48"></path> </g> </svg><span class="isep"></span> <svg height="11.439pt" style="vertical-align:-2.15067pt" version="1.1" viewbox="30.6531838 -9.28833 4.951 11.439" width="4.951pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,30.703,0)"> <use xlink:href="#g190-116"></use> </g> </svg></span>根据目前的技术(<a href="#B34">34</a>]</span></span><span class="list-item"><span class="list-label">(v)</span><span class="list-content">到达的任务系统动态任务分配,遵循泊松分布与平均内部时间<span class="inline_break"> <svg height="11.439pt" id="M304" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 11.596 11.439" width="11.596pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-50"></use> </g> <g transform="matrix(.013,0,0,-0.013,6.24,0)"> <use xlink:href="#g113-48"></use> </g> </svg><span class="isep"></span> <svg height="11.439pt" style="vertical-align:-2.15067pt" version="1.1" viewbox="11.5511838 -9.28833 7.341 11.439" width="7.341pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,11.601,0)"> <path d="M529 97L508 118C475 75 449 58 438 58C428 58 421 66 415 104C393 234 374 403 364 496C345 670 307 712 254 712C220 712 174 691 153 669L161 645C176 653 194 658 206 658C237 658 261 640 278 562C287 522 290 483 293 434C223 269 110 105 23 9L32 -12C59 -6 85 0 108 7C152 64 251 252 300 366C307 297 315 221 337 82C346 24 363 -12 393 -12C425 -12 475 13 529 97Z" id="g113-233"></path> </g> </svg></span></span></span><span class="list-item"><span class="list-label">(vi)</span><span class="list-content">执行时间遵循均匀分布模式,执行时间的价值是取决于他们的类型。之间进行侦察任务,en的价值(15、25)和惊人的任务~(25、35)评估任务en ~(35岁,45岁)</span></span><span class="list-item"><span class="list-label">(七)</span><span class="list-content">我们使用参数BaseDeadline设置任务的最后期限<span class="nowrap"> <svg height="11.1049pt" id="M305" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>;</span>公式如下:</span></span></span><span class="equation_break" id="EEq6"><span class="left_break" id="L306"></span><span class="middle_break"><span class="center_break" id="M306"> <svg height="13.9281pt" id="M306-1" version="1.1" viewbox="0 0 129.314 13.9281" width="129.314pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B306-1"> <g transform="matrix(.013,0,0,-0.013,0,9.308)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.89,9.308)"> <use xlink:href="#g190-101"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,10.79,12.44)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,17.48,9.308)"> <use xlink:href="#g117-34"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.74,9.308)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,32.79,9.308)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,38.53,12.44)"> <use xlink:href="#g50-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,44.49,9.308)"> <use xlink:href="#g117-36"></use> </g> <g transform="matrix(.013,0,0,-0.013,55.03,9.308)"> <path d="M372 352C427 368 507 407 507 502C507 548 486 592 451 616C420 638 376 650 301 650H44V622C124 616 128 610 128 527V123C128 40 122 34 36 28V0H257C336 0 402 12 453 40C512 72 548 124 548 191C548 291 471 335 372 350V352ZM213 362V558C213 591 216 602 226 608C235 614 258 618 282 618C377 618 415 558 415 490C415 406 369 362 260 362H213ZM213 328H258C380 328 450 283 450 181C450 76 377 35 296 34C231 34 213 53 213 125V328Z" id="g190-67"></path> </g> <g transform="matrix(.013,0,0,-0.013,62.79,9.308)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,68.46,9.308)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.013,0,0,-0.013,73.33,9.308)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,78.86,9.308)"> <path d="M43 650V622C120 616 128 612 128 526V124C128 39 120 33 34 27V0H270C392 0 492 25 567 83C643 141 690 230 690 350C690 444 655 517 605 565C543 625 450 650 323 650H43ZM213 547C213 587 217 598 226 604C236 612 262 617 304 617C371 617 429 604 474 576C554 529 592 439 592 336C592 176 505 36 319 36C246 36 213 55 213 131V547Z" id="g190-69"></path> </g> <g transform="matrix(.013,0,0,-0.013,88.49,9.308)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,94.09,9.308)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,99.8,9.308)"> <use xlink:href="#g190-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,106.73,9.308)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.013,0,0,-0.013,110.02,9.308)"> <use xlink:href="#g190-106"></use> </g> <g transform="matrix(.013,0,0,-0.013,113.5,9.308)"> <use xlink:href="#g190-111"></use> </g> <g transform="matrix(.013,0,0,-0.013,120.56,9.308)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,126.35,9.308)"> <use xlink:href="#g113-45"></use> </g> </g> </svg></span></span><span class="right_break" id="R306"> <svg class="label" height="11.44pt" id="M306-2" version="1.1" viewbox="0 0 15.168 11.44" width="15.168pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="B306-2"> <g transform="matrix(.013,0,0,-0.013,0,9.25)"> <use xlink:href="#g190-41"></use> </g> <g transform="matrix(.013,0,0,-0.013,4.5,9.25)"> <path d="M246 635C138 635 67 554 67 471C67 401 116 348 178 315C143 296 103 268 87 252C65 231 42 203 42 157C42 50 128 -12 234 -12C319 -12 432 52 432 169C432 256 370 303 299 344C347 376 373 399 381 408C399 430 408 459 408 487C408 569 341 635 246 635ZM235 603C284 603 334 567 334 483C334 420 306 383 273 358C202 393 142 427 142 503C142 552 173 603 235 603ZM245 21C179 21 122 70 122 163C122 219 155 270 204 300C279 263 352 219 352 144C352 66 308 21 245 21Z" id="g190-152"></path> </g> <g transform="matrix(.013,0,0,-0.013,10.67,9.25)"> <use xlink:href="#g190-42"></use> </g> </g> </svg></span></span>在参数<svg height="12.599pt" id="M307" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -9.3079 14.0249 12.599" width="14.0249pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.98,0)"> <use xlink:href="#g190-101"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,10.87,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>和<svg height="10.8766pt" id="M308" style="vertical-align:-3.29112pt" version="1.1" viewbox="-0.0498162 -7.58548 12.8636 10.8766" width="12.8636pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.013,0,0,-0.013,3.98,0)"> <use xlink:href="#g190-98"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.708,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>表示最后期限时间和到达的时间<span class="nowrap"> <svg height="11.1049pt" id="M309" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 7.53969 11.1049" width="7.53969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"> <use xlink:href="#g50-106"></use> </g> </svg>,</span>和BaseDeadline遵循均匀分布区间<span class="inline_break"> <svg height="11.439pt" id="M310" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 19.929 11.439" width="19.929pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path> </g> <g transform="matrix(.013,0,0,-0.013,4.485,0)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.725,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,16.965,0)"> <use xlink:href="#g113-45"></use> </g> </svg><span class="ipunc"></span> <svg height="11.439pt" style="vertical-align:-2.15067pt" version="1.1" viewbox="22.058183800000002 -9.28833 23.017 11.439" width="23.017pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,22.108,0)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,28.349,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,37.494,0)"> <use xlink:href="#g117-36"></use> </g> </svg><span class="ibiop"></span> <svg height="11.439pt" style="vertical-align:-2.15067pt" version="1.1" viewbox="47.9811838 -9.28833 17.116 11.439" width="17.116pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,48.031,0)"> <path d="M483 97L471 123C436 91 401 65 392 65C388 65 384 74 390 106C414 239 444 378 457 429L455 433C444 433 429 436 416 439C392 444 368 448 344 448C281 448 204 415 152 376C71 315 23 205 23 103C23 21 57 -12 85 -12C114 -12 149 6 185 34C231 70 285 119 329 183H331L309 81C292 0 308 -12 326 -12C350 -12 421 24 483 97ZM374 387C370 363 356 291 345 261C315 193 181 50 139 50C124 50 110 71 110 118C110 224 153 331 218 379C238 394 271 402 301 402C329 402 359 394 374 387Z" id="g113-98"></path> </g> <g transform="matrix(.013,0,0,-0.013,57.516,0)"> <use xlink:href="#g113-43"></use> </g> </svg><span class="ibiop"></span> <svg height="11.439pt" style="vertical-align:-2.15067pt" version="1.1" viewbox="68.0031838 -9.28833 17.329 11.439" width="17.329pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,68.053,0)"> <use xlink:href="#g113-52"></use> </g> <g transform="matrix(.013,0,0,-0.013,74.293,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,80.533,0)"> <path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path> </g> </svg></span><span class="list"><span class="list-item"><span class="list-label">(八)</span><span class="list-content">价值<svg height="6.1673pt" id="M311" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 7.51131 6.1673" width="7.51131pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-223"></use> </g> </svg>将20当到达分配主要和备份任务吗</span></span><span class="list-item"><span class="list-label">(第九)</span><span class="list-content">价值<svg height="9.39034pt" id="M312" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 7.34167 9.39034" width="7.34167pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-234"></use> </g> </svg>将0.2到达损伤概率的计算任务时,这意味着一个任务的最大破坏概率是20%吗</span></span></span></p> <p>实验主要包含四组,分析备份和重叠机制的有效性,DTTA的性能参数的变化趋势<span class="nowrap"> <svg height="9.49473pt" id="M313" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 7.30254 9.49473" width="7.30254pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> </svg>,</span><span class="nowrap"> <svg height="6.1673pt" id="M314" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 6.7023 6.1673" width="6.7023pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-98"></use> </g> </svg>,</span><span class="nowrap"> <svg height="10.8583pt" id="M315" style="vertical-align:-3.27282pt" version="1.1" viewbox="-0.0498162 -7.58548 44.8785 10.8583" width="44.8785pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.356,3.132)"> <path d="M513 0V26C455 31 447 37 447 103V278C447 398 390 449 309 449C255 449 202 412 166 376V712C127 700 67 684 19 677V653C85 647 87 643 87 580V103C87 37 79 31 19 26L18 0H231V26C171 32 166 39 166 103V341C194 373 232 392 270 392C337 392 368 351 368 269V103C368 38 360 32 302 26V0H513Z" id="g190-105"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.473,3.132)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,24.34,3.132)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,27.643,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,32.466,3.132)"> <path d="M257 449C165 449 37 374 37 209C37 98 119 -12 256 -12C355 -12 473 65 473 226C473 349 381 449 257 449ZM244 416C333 416 380 320 380 204C380 67 329 21 267 21C184 21 130 115 130 241C130 354 184 416 244 416Z" id="g190-112"></path> </g> <g transform="matrix(.0091,0,0,-0.0091,37.043,3.132)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,39.345,3.132)"> <use xlink:href="#g190-101"></use> </g> </svg>,</span>其中<svg height="6.1673pt" id="M316" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 6.7023 6.1673" width="6.7023pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-98"></use> </g> </svg>上面可以找到。和这些参数表中列出的间隔<a href="//www.newsama.com/journals/ijae/2020/8878136/tab2/" target="_blank">2</a>。</p> <div class="floats-partial-section partial-other-wrapper" data-section="tab2"> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表2</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/tab2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 参数的实验研究。</d我v> <a class="table-thumb-overlay" href="//www.newsama.com/journals/ijae/2020/8878136/tab2" target="_blank" aria-label="View full page"></a> </div> </div> <h5 id="sec6.2">6.2。性能随着时间变化</h5> <p>在这个实验中,我们研究四种算法的性能,实验时间不同。应该注意的是,时间变化主要影响无人机的数量,由于一个损坏的问题。在这组实验中,任务被分配在四种模式,即根据DTTA决定,NBPDTTA, NBBDTTA和NBNOTA分别。图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" target="_blank">9</a>显示的四个算法的性能<我>TGR</我>,<我>ETR</我>,<我>博士</我>。</p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-c2132927035bac8ba99e1fd10dcd5d47"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.009a.jpg"> <br> <strong>(一)</strong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.009b.jpg"> <br> <strong>(b)</strong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(c)" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.009c.jpg"> <br> <strong>(c)</strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-c2132927035bac8ba99e1fd10dcd5d47 partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.009a_th.jpg"><br><strong>(一)</strong></button> <button aria-label="Slide to (b) " class="partial-carousel-dot"><img loading="lazy" alt="(b)" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.009b_th.jpg"><br><strong>(b)</strong></button> <button aria-label="Slide to (c) " class="partial-carousel-dot"><img loading="lazy" alt="(c)" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.009c_th.jpg"><br><strong>(c)</strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-c2132927035bac8ba99e1fd10dcd5d47 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图9</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 性能的影响。</d我v> </div> </div> </div> <p>它可以看到从图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" target="_blank">9(一个)</a>所有四个算法的破坏性比随时间迅速增加。100年代的时候,损害率达到15%。800年代的时候,损害率平均达到78%条件下最大破坏概率是20%当执行一个任务。这意味着将近240无人机的最初300无人机损害他们的任务执行时间是800年代。原因可以总结,破坏概率的数量呈指数增长的任务。结果,实验表明,在战场上损害的问题不容忽视。</p> <p>从图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" target="_blank">9 (b)</a>,我们可以观察到DTTA及其派生算法实现更高的性能比NBNOTA近12%。我们可以把这种现象归因于这样一个事实:增加机制做出了的贡献。此外,我们可以看到,TGR缓慢下降在500年代和500年代之后迅速减少。原因是生存无人机将成为与时间越来越少。在500年代之前,生存无人机能满足任务的需求,因此TGR只下降缓慢。然而,到达任务的无人机的生存是不够的在500年代之后,TGR将会迅速减少。另一个现象,可以看到从图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" target="_blank">9 (b)</a>是NBBDTTA TGR的下降速度比TGR DTTA NBPDTTA,这意味着BB重叠模型实现更高的性能比PB模型缺乏无人机的资源。的原因是,无人机在沉重的负担时,无人机可能遇到更首要任务取消由于无人机损害问题在英国石油公司模式中,取消的连锁反应会导致资源浪费。但在BB模型中,只有备份副本是重叠的,没有这样的连锁反应会影响DTTA和NBPDTTA的性能。我们也可以发现NBNOTA将达到800年代后比别人更高的性能;这是因为备份机制和重叠模式不适合满载环境。可以解释如下:肯定会备份机制,虽然不多,带来资源的额外费用,保证任务成功概率。无人机在满载时,最好是无人机拒绝一个备份和接受新任务的原因没有额外的资源消耗。所以我们可以做一个结论DTTA并不适合满载无人机。</p> <p>我们从图可以观察到<a href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" target="_blank">9 (c)</a>,etr四个算法之间的差异非常小。这意味着该算法可以实现更高的任务成功率在不损害无人机的效率。图中可以看到<a href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" target="_blank">9 (c)</a>ETR会随着时间慢慢成长。这是由于这样的事实,有更少的无人机生存,导致每个无人机应该承担更多的任务,所以ETR会更高。和增长缓慢的原因是,某一部分时间用于过渡任务之间的位置。此外,ETR NBBDTTA小于DTTA的NBPDTTA。原因的解释NBBDTTA下降速度在图的一部分<a href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" target="_blank">9 (b)</a>。至于ETR的价值,它不能达到近100%;原因是飞行在不同任务之间的位置将占据无人机的使用时间。</p> <p>从图我们可以得出这样的结论<a href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" target="_blank">9</a>,该算法有效地提高无人机完成任务的性能在对抗的环境中,没有损害无人机的效率。和DTTA可以表现得更好在无人机不满载状态。此外,BB重叠将实现更高的性能比BP在重负载条件下重叠模式。</p> <h5 id="sec6.3">6.3。到达率的性能影响</h5> <p>在这组实验中,我们关注DTTA到达率对性能的影响,NBBDTTA, NBPDTTA。参数<svg height="9.49473pt" id="M324" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 7.30254 9.49473" width="7.30254pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> </svg>从1到7的增量变化1。实验结果图中可以看到<a href="//www.newsama.com/journals/ijae/2020/8878136/fig10/" target="_blank">10</a>。</p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-fee7e5e3760b8771d85d93df813fdb58"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(一)" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.0010a.jpg"> <br> <strong>(一)</strong> </div> <div class="partial-carousel--single-image"> <img loading="lazy" alt="(b)" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.0010b.jpg"> <br> <strong>(b)</strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-fee7e5e3760b8771d85d93df813fdb58 partial-carousel-thumbnail"> <button aria-label="Slide to (a) " class="partial-carousel-dot"><img loading="lazy" alt="(一)" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.0010a_th.jpg"><br><strong>(一)</strong></button> <button aria-label="Slide to (b) " class="partial-carousel-dot"><img loading="lazy" alt="(b)" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.0010b_th.jpg"><br><strong>(b)</strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-fee7e5e3760b8771d85d93df813fdb58 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图10</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig10/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 性能的影响<span class="nowrap"> <svg height="9.49473pt" id="M325" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 7.30254 9.49473" width="7.30254pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> </svg>。</span> </div> </div> </div> </div> <p>从图可以看出<a href="//www.newsama.com/journals/ijae/2020/8878136/fig10/" target="_blank">10 ()</a>损害率随着增加而增长<span class="nowrap"> <svg height="9.49473pt" id="M326" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 7.30254 9.49473" width="7.30254pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> </svg>。</span>原因是,当的价值<svg height="9.49473pt" id="M327" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 7.30254 9.49473" width="7.30254pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> </svg>变得更大、更任务将到达一个特定的时间槽,导致每个无人机需要执行多个任务的条件。因此,损失的风险会增加,博士。</p> <p>结果在图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig10/" target="_blank">10 (b)</a>证明的价值<svg height="9.49473pt" id="M328" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 7.30254 9.49473" width="7.30254pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> </svg>增加,TGR的算法将慢慢减少<span class="inline_break"> <svg height="9.49473pt" id="M329" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 18.437 9.49473" width="18.437pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.806,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="9.49473pt" style="vertical-align:-0.2063999pt" version="1.1" viewbox="22.018183800000003 -9.28833 6.421 9.49473" width="6.421pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,22.068,0)"> <use xlink:href="#g113-52"></use> </g> </svg></span>并迅速下降。我们解释这种现象如下。当之前<span class="inline_break"> <svg height="9.49473pt" id="M330" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 18.437 9.49473" width="18.437pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.806,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span><span class="nowrap"> <svg height="9.49473pt" style="vertical-align:-0.2063999pt" version="1.1" viewbox="22.018183800000003 -9.28833 6.421 9.49473" width="6.421pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,22.068,0)"> <use xlink:href="#g113-52"></use> </g> </svg>,</span></span>无人机还没有达到满载,他们可以接受一些任务执行,因此,TGR只有慢慢减少。当后<span class="inline_break"> <svg height="9.49473pt" id="M331" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 18.437 9.49473" width="18.437pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.806,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span><span class="nowrap"> <svg height="9.49473pt" style="vertical-align:-0.2063999pt" version="1.1" viewbox="22.018183800000003 -9.28833 6.421 9.49473" width="6.421pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,22.068,0)"> <use xlink:href="#g113-52"></use> </g> </svg>,</span></span>更多的任务会在某个时间段,资源和现有无人机将远远低于需求,导致这一事实无人机别无选择拒绝大部分到达任务,所以TGR迅速下降。DTTA性能的一个有趣的观察是,NBBDTTA, NBPDTTA高于NBNOTA之前<span class="inline_break"> <svg height="9.49473pt" id="M332" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 18.437 9.49473" width="18.437pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.806,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span><span class="nowrap"> <svg height="9.49473pt" style="vertical-align:-0.2063999pt" version="1.1" viewbox="22.018183800000003 -9.28833 6.421 9.49473" width="6.421pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,22.068,0)"> <use xlink:href="#g113-52"></use> </g> </svg>,</span></span>和NBNOTA会表现得更好<span class="inline_break"> <svg height="9.49473pt" id="M333" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 18.437 9.49473" width="18.437pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.806,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span><span class="nowrap"> <svg height="9.49473pt" style="vertical-align:-0.2063999pt" version="1.1" viewbox="22.018183800000003 -9.28833 6.421 9.49473" width="6.421pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,22.068,0)"> <use xlink:href="#g113-52"></use> </g> </svg>。</span></span>这是由于这样的事实:DTTA及其派生算法不适合重负荷条件下,这是与解释在图一致<a href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" target="_blank">9 (b)</a>。除此之外,我们可以看到,该DTTA执行比NBBDTTA和NBPDTTA时的价值<span class="inline_break"> <svg height="9.49473pt" id="M334" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 18.437 9.49473" width="18.437pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.806,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="9.49473pt" style="vertical-align:-0.2063999pt" version="1.1" viewbox="22.018183800000003 -9.28833 6.421 9.49473" width="6.421pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,22.068,0)"> <use xlink:href="#g113-52"></use> </g> </svg></span>从1到4不等。因此,在合适的条件下,提出DTTA无疑是有效的。</p> <p>因此,我们可以从图的结论<a href="//www.newsama.com/journals/ijae/2020/8878136/fig10/" target="_blank">10</a>这个参数<svg height="9.49473pt" id="M335" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 7.30254 9.49473" width="7.30254pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> </svg>主要影响无人机群的负荷状态。当没有面临一个满载环境,DTTA可以执行稳定比其他算法的变异<span class="nowrap"> <svg height="9.49473pt" id="M336" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 7.30254 9.49473" width="7.30254pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> </svg>。</span></p> <h5 id="sec6.4">6.4。性能的影响的最后期限</h5> <p>我们调查的影响任务的期限对DTTA的性能。参数<span class="nowrap"> <svg height="6.1673pt" id="M337" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 6.7023 6.1673" width="6.7023pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-98"></use> </g> </svg>,</span>可以发现在方程(<a href="#EEq6">8</a>),从1到7的增量1。</p> <p>图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig11/" target="_blank">11</a>显示,当最后期限很短,DTTA, NBBDTTA, NBPDTTA NBNOTA实现非常相似的性能。我们可以把理由的事实任务无法安排备份副本由于短的期限。当最后期限更长,所有算法的性能迅速提高,但DTTA增长更快。这是因为备份机制使其贡献。和DTTA可以执行比NBNOTA近7%的价值<svg height="6.1673pt" id="M338" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 6.7023 6.1673" width="6.7023pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-98"></use> </g> </svg>达到4。然而,随着的增加<svg height="6.1673pt" id="M339" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 6.7023 6.1673" width="6.7023pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-98"></use> </g> </svg>4的值后,会保持相同的性能。原因是,当备份机制已达到它的潜力,更长的期限是毫无意义的性能提升。</p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-87bf7a489e68c8f06e050eb061972783"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.0011.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-87bf7a489e68c8f06e050eb061972783 partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.0011_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-87bf7a489e68c8f06e050eb061972783 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图11</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig11/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 性能的影响<span class="nowrap"> <svg height="6.1673pt" id="M340" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 6.7023 6.1673" width="6.7023pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-98"></use> </g> </svg>。</span> </div> </div> </div> </div> <p>从图我们可以得出这样的结论<a href="//www.newsama.com/journals/ijae/2020/8878136/fig11/" target="_blank">11</a>截止日期会影响性能的DTTA只有当最后期限是足够短影响分配的成功备份副本。</p> <h5 id="sec6.5">6.5。性能的影响备份阈值</h5> <p>在这组实验中,阈值的影响备份或不将研究。结果呈现在图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig12/" target="_blank">12</a>。</p> <div class="partial-carousel-wrapper"> <div class="floats-partial-section"> <div class="floats-partial-content"> <div class="partial-carousel--full-image partial-carousel-cfe32d483c33a18245954dd7d87eeb61"> <div class="partial-carousel--single-image"> <img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/figures/8878136.fig.0012.jpg"> <br> <strong></strong> </div> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs"> <div class="partial-carousel-dots-cfe32d483c33a18245954dd7d87eeb61 partial-carousel-thumbnail"> <button aria-label="Slide to " class="partial-carousel-dot"><img loading="lazy" alt="" src="https://static.hindawi.com/articles/ijae/volume-2020/8878136/thumbnails/8878136.fig.0012_th.jpg"><br><strong></strong></button> </div> </div> <div class="floats-partial-middle--nav"> <div class="partial-carousel-next-prev-cfe32d483c33a18245954dd7d87eeb61 partial-carousel-next-prev"> <button aria-label="Previous" class="carousel-prev"></button> <button aria-label="Next" class="carousel-next"></button> </div> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图12</span> <a aria-label="View full page" class="caption-partial-url" href="//www.newsama.com/journals/ijae/2020/8878136/fig12/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 性能的影响<span class="nowrap"> <svg height="10.8583pt" id="M341" style="vertical-align:-3.27282pt" version="1.1" viewbox="-0.0498162 -7.58548 44.8785 10.8583" width="44.8785pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.356,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.473,3.132)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,24.34,3.132)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,27.643,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,32.466,3.132)"> <use xlink:href="#g190-112"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,37.043,3.132)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,39.345,3.132)"> <use xlink:href="#g190-101"></use> </g> </svg>。</span> </div> </div> </div> </div> <p>它可以被观察到的性能DTTA, NBPDTTA, NBBDTTA将改变的变化<span class="nowrap"> <svg height="10.8583pt" id="M342" style="vertical-align:-3.27282pt" version="1.1" viewbox="-0.0498162 -7.58548 44.8785 10.8583" width="44.8785pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.356,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.473,3.132)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,24.34,3.132)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,27.643,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,32.466,3.132)"> <use xlink:href="#g190-112"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,37.043,3.132)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,39.345,3.132)"> <use xlink:href="#g190-101"></use> </g> </svg>。</span>然而,NBNOTA稳定的性能。原因是不适用NBNOTA备份机制,和的值<svg height="10.8583pt" id="M343" style="vertical-align:-3.27282pt" version="1.1" viewbox="-0.0498162 -7.58548 44.8785 10.8583" width="44.8785pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.356,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.473,3.132)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,24.34,3.132)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,27.643,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,32.466,3.132)"> <use xlink:href="#g190-112"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,37.043,3.132)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,39.345,3.132)"> <use xlink:href="#g190-101"></use> </g> </svg>不会影响NBNOTA下任务的调度。此外,DTTA将达到最高性能的价值<svg height="10.8583pt" id="M344" style="vertical-align:-3.27282pt" version="1.1" viewbox="-0.0498162 -7.58548 44.8785 10.8583" width="44.8785pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.356,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.473,3.132)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,24.34,3.132)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,27.643,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,32.466,3.132)"> <use xlink:href="#g190-112"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,37.043,3.132)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,39.345,3.132)"> <use xlink:href="#g190-101"></use> </g> </svg>是0.5。我们可以把这种现象归因于,当<svg height="10.8583pt" id="M345" style="vertical-align:-3.27282pt" version="1.1" viewbox="-0.0498162 -7.58548 44.8785 10.8583" width="44.8785pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.356,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.473,3.132)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,24.34,3.132)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,27.643,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,32.466,3.132)"> <use xlink:href="#g190-112"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,37.043,3.132)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,39.345,3.132)"> <use xlink:href="#g190-101"></use> </g> </svg>比适当的值小,太多的备份会带来额外的资源为代价,当<svg height="10.8583pt" id="M346" style="vertical-align:-3.27282pt" version="1.1" viewbox="-0.0498162 -7.58548 44.8785 10.8583" width="44.8785pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.356,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.473,3.132)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,24.34,3.132)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,27.643,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,32.466,3.132)"> <use xlink:href="#g190-112"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,37.043,3.132)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,39.345,3.132)"> <use xlink:href="#g190-101"></use> </g> </svg>比适当的价值,备份太少会使重叠机制和备份机制不能发挥他们的潜力。显然,正确的价值<svg height="10.8583pt" id="M347" style="vertical-align:-3.27282pt" version="1.1" viewbox="-0.0498162 -7.58548 44.8785 10.8583" width="44.8785pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.356,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.473,3.132)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,24.34,3.132)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,27.643,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,32.466,3.132)"> <use xlink:href="#g190-112"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,37.043,3.132)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,39.345,3.132)"> <use xlink:href="#g190-101"></use> </g> </svg>是0.5的实验设置下。</p> <p>图中发现的另一个现象<a href="//www.newsama.com/journals/ijae/2020/8878136/fig12/" target="_blank">12</a>是DTTA及其派生算法比NBNOTA将更好的性能。这个结果证明了增加算法将增强任务成功率。我们也可以发现DTTA达到最高性能增加的三个算法。这意味着BB重叠模型和PB重叠模型应该为TGR一起工作性能等的任何值<sub>阈值</sub>。此外,通过比较的性能<span class="inline_break"> <svg height="11.6217pt" id="M348" style="vertical-align:-3.272881pt" version="1.1" viewbox="-0.0498162 -8.34882 56.042 11.6217" width="56.042pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.013,0,0,-0.013,5.546,0)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,9.526,3.132)"> <use xlink:href="#g190-117"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,12.356,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"> <use xlink:href="#g190-115"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,20.473,3.132)"> <use xlink:href="#g190-102"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,24.34,3.132)"> <use xlink:href="#g190-116"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,27.643,3.132)"> <use xlink:href="#g190-105"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,32.466,3.132)"> <use xlink:href="#g190-112"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,37.043,3.132)"> <use xlink:href="#g190-109"></use> </g> <g transform="matrix(.0091,0,0,-0.0091,39.345,3.132)"> <use xlink:href="#g190-101"></use> </g> <g transform="matrix(.013,0,0,-0.013,48.411,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="11.6217pt" style="vertical-align:-3.272881pt" version="1.1" viewbox="59.6241838 -8.34882 15.63 11.6217" width="15.63pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,59.674,0)"> <use xlink:href="#g113-49"></use> </g> <g transform="matrix(.013,0,0,-0.013,65.914,0)"> <use xlink:href="#g113-47"></use> </g> <g transform="matrix(.013,0,0,-0.013,68.878,0)"> <path d="M153 550H386L412 615L406 623H120L82 318C104 327 142 338 184 338C294 338 347 275 347 187C347 112 305 39 221 39C160 39 119 71 97 89C88 97 80 96 71 90C59 80 50 67 49 57C48 45 52 36 66 23C80 9 123 -12 169 -12C221 -11 288 15 342 59C403 109 431 165 431 225C431 308 366 395 238 395C212 395 165 379 127 364L153 550Z" id="g113-54"></path> </g> </svg></span>在图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig12/" target="_blank">12</a>,<span class="inline_break"> <svg height="8.55521pt" id="M349" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -8.34882 17.843 8.55521" width="17.843pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-98"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.212,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="8.55521pt" style="vertical-align:-0.2063904pt" version="1.1" viewbox="21.425183800000003 -8.34882 6.414 8.55521" width="6.414pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,21.475,0)"> <path d="M456 178V225H360V632H320C217 496 115 347 20 206V178H280V106C280 40 276 34 189 27V0H445V27C364 34 360 39 360 106V178H456ZM280 225H82C149 335 214 431 278 520H280V225Z" id="g113-53"></path> </g> </svg></span>在图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig11/" target="_blank">11</a>,<span class="inline_break"> <svg height="9.49473pt" id="M350" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 18.437 9.49473" width="18.437pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,0,0)"> <use xlink:href="#g113-233"></use> </g> <g transform="matrix(.013,0,0,-0.013,10.806,0)"> <use xlink:href="#g117-34"></use> </g> </svg><span class="irelop"></span> <svg height="9.49473pt" style="vertical-align:-0.2063999pt" version="1.1" viewbox="22.018183800000003 -9.28833 6.421 9.49473" width="6.421pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g transform="matrix(.013,0,0,-0.013,22.068,0)"> <use xlink:href="#g113-52"></use> </g> </svg></span>在图<a href="//www.newsama.com/journals/ijae/2020/8878136/fig10/" target="_blank">10</a>,我们可以看到它们之间的差异非常小。确定该算法DTTA的稳定性。</p> <h4 id="conclusions-and-future-work">7所示。结论和未来的工作</h4> <p>在这项研究中,我们调查了增加对抗环境中的无人机群的分配问题,提出了一个新颖的名叫DTTA增加任务分配算法。DTTA使用备份机制来提高任务成功的概率和BB和BP重叠模型适用于促进利用无人机。基于该模型,我们调查任务之间的重叠属性来避免碰撞。更重要的是,没有备份算法NBNOTA和两个算法,名叫NBBDTTA NBPDTTA,源自DTTA提出的基线。我们进行了广泛的模拟研究通过使用随机合成任务,表明DTTA对抗的环境中是一个可行的任务分配算法。不满载时环境、DTTA可以提高任务成功率约10%或更多(见200年代时间图的性能<a href="//www.newsama.com/journals/ijae/2020/8878136/fig9/" target="_blank">9 (b)</a>),在不损害无人机使用的效率。</p> <p>我们DTTA是第一个报道的文献中,因为DTTA需要分配算法,增加机制,重叠模型转换为协作思想。并实验验证了其优势。在未来的工作中,我们将加强任务和无人机模型更符合实际情况。此外,我们将算法应用到实际系统来处理真实任务破坏公差。</p> <h4 id="data-availability">数据可用性</h4> <p>实验数据可以达到通过联系相应的作者(<a href="//www.newsama.com/cdn-cgi/l/email-protection"><span class="__cf_email__" data-cfemail="c3b4a7a1a2ac83adb6a7b7eda6a7b6eda0ad">(电子邮件保护)</span></a>)。</p> <h4 id="conflicts-of-interest">的利益冲突</h4> <p>作者宣称没有利益冲突的出版物。</p> <h4 id="acknowledgments">确认</h4> <p>这项工作是由美国国家科学基金会支持的中国(71702186)、国防科技大学的科研项目(批准号ZK19-03),军队研究生研究项目(肯塔基州1204054419068号),并在湖南省研究生科研创新项目(批准号CX2018B021)。</p> </div> </div> <div class="ArticleReferences_xmlContent__p_40j"> <h4 class="ArticleReferences_references__GH2t_" id="references">引用</h4> <ol class="ArticleReferences_orderedReferences__mJr9M"> <li class="ArticleReferences_articleReference__ouEuh" id="B1"> <div class="referenceContent"> <p class="referenceText">j·j·陈,h . 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